相关论文: Speech Controlled Quadruped

The current research standards in robotics demand general approaches to robots' controllers development. In the assistive robotics domain, the human-machine interaction plays a substantial role. Especially, the humans generate intents that…

Large language models (LLMs) have demonstrated the potential to perform high-level planning. Yet, it remains a challenge for LLMs to comprehend low-level commands, such as joint angle targets or motor torques. This paper proposes an…

With the research into development of quadruped robots picking up pace, learning based techniques are being explored for developing locomotion controllers for such robots. A key problem is to generate leg trajectories for continuously…

Currently, unmanned aerial vehicles, such as drones, are becoming a part of our lives and reaching out to many areas of society, including the industrialized world. A common alternative to control the movements and actions of the drone is…

Quadruped-based mobile manipulation presents significant challenges in robotics due to the diversity of required skills, the extended task horizon, and partial observability. After presenting a multi-stage pick-and-place task as a succinct…

This paper describes, how current Machine Learning (ML) techniques combined with simple rule-based animation routines make an android robot head an embodied conversational agent with ChatGPT as its core component. The android robot head is…

Speech recognition is a prominent technology, which helps us to develop a Natural language interface through speech for the Human-Robot Interaction (HRI). It allows the computer to take the spoken instructions, interpret it, and generate…

Robots learn as they interact with humans. Consider a human teleoperating an assistive robot arm: as the human guides and corrects the arm's motion, the robot gathers information about the human's desired task. But how does the human know…

Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…

This paper describes the development of a humanoid robot called ARDOP. The goal of the project is to provide a modular, open-source, and inexpensive humanoid robot that would enable researchers to answer various problems related to robotic…

Ants are six-legged insects that can carry loads ten times heavier than their body weight. Since having six-legs, they are intrinsically stable. They are powerful and can carry heavy loads. For these reasons, in this paper a new parallel…

The paper takes the first step towards the de- velopment of a control framework for underactuated flying humanoid robots. These robots may thus have the capacities of flight, contact locomotion, and manipulation, and benefit from…

Situated embodied conversation requires robots to interleave real-time dialogue with active perception: deciding what to look at, when to look, and what to say under tight latency constraints. We present a simple, minimal system recipe that…

We introduce our concept on the modular wireless robot consisting of three main modules : main unit, data acquisition and data processing modules. We have developed a generic prototype with an integrated control and monitoring system to…

In robot-assisted therapy for individuals with Autism Spectrum Disorder, the workload of therapists during a therapeutic session is increased if they have to control the robot manually. To allow therapists to focus on the interaction with…

Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance…

Deep reinforcement learning has emerged as a popular and powerful way to develop locomotion controllers for quadruped robots. Common approaches have largely focused on learning actions directly in joint space, or learning to modify and…

This article presents the design and the implementation of a cloud system for knowledge-based autonomous interaction devised for Social Robots and other conversational agents. The system is particularly convenient for low-cost robots and…

In this study, we propose a shared control method for teleoperated mobile robots using brain-machine interfaces (BMI). The control commands generated through BMI for robot operation face issues of low input frequency, discreteness, and…

We present Artoo, a learned acoustic communication system for robots that replaces hand-designed signal processing with end-to-end co-trained neural networks. Our system pairs a lightweight text-to-speech (TTS) transmitter (1.18M…