相关论文: Kick Motions for the NAO Robot using Dynamic Movem…

This paper presents a novel motion and trajectory planning algorithm for nonholonomic mobile robots that uses recent advances in deep reinforcement learning. Starting from a random initial state, i.e., position, velocity and orientation,…

As the embodiment gap between a robot and a human narrows, new opportunities arise to leverage datasets of humans interacting with their surroundings for robot learning. We propose a novel technique for training sensorimotor policies with…

We consider the problem of using diffusion models to generate fast, smooth, and temporally consistent robot motions. Although diffusion models have demonstrated superior performance in robot learning due to their task scalability and…

Planning collision-free motions for robots with many degrees of freedom is challenging in environments with complex obstacle geometries. Recent work introduced the idea of speeding up the planning by encoding prior experience of successful…

We bring a control perspective to the problem of identifying paths of measures for sampling via dynamic measure transport (DMT). We highlight the fact that commonly used paths may be poor choices for DMT and connect existing methods for…

Recently, a new concept for continuum robots capable of producing macro-scale and micro-scale motion has been presented. These robots achieve their multi-scale motion capabilities by coupling direct-actuation of push-pull back-bones for…

Humanoid control often leverages motion priors from human demonstrations to encourage natural behaviors. However, such demonstrations are frequently suboptimal or misaligned with robotic tasks due to embodiment differences, retargeting…

Optimal control approaches in combination with trajectory optimization have recently proven to be a promising control strategy for legged robots. Computationally efficient and robust algorithms were derived using simplified models of the…

Safe and efficient robot operation in complex human environments can benefit from good models of site-specific motion patterns. Maps of Dynamics (MoDs) provide such models by encoding statistical motion patterns in a map, but existing…

This paper introduces a novel approach for enabling real-time imitation of human head motion by a Nao robot, with a primary focus on elevating human-robot interactions. By using the robust capabilities of the MediaPipe as a computer vision…

This paper presents a modular framework for motion planning using movement primitives. Central to the approach is Contraction Theory, a modular stability tool for nonlinear dynamical systems. The approach extends prior methods by achieving…

Reinforcement learning in large-scale environments is challenging due to the many possible actions that can be taken in specific situations. We have previously developed a means of constraining, and hence speeding up, the search process…

This paper presents an integrated model-based framework for generating and executing dynamic whole-body dance motions on humanoid robots. The framework operates in two stages: offline motion generation and online motion execution, both…

In this paper, we present a novel nonparametric motion flow model that effectively describes a motion trajectory of a human and its application to human robot cooperation. To this end, motion flow similarity measure which considers both…

This paper introduces a framework for interactive navigation through adaptive non-prehensile mobile manipulation. A key challenge in this process is handling objects with unknown dynamics, which are difficult to infer from visual…

Diverse human motion prediction (HMP) aims to predict multiple plausible future motions given an observed human motion sequence. It is a challenging task due to the diversity of potential human motions while ensuring an accurate description…

Keeping the stability can be counted as the essential ability of a humanoid robot to step out of the laboratory to work in our real environment. Since humanoid robots have similar kinematic to a human, humans expect these robots to be…

Humanoid and legged robots interact with the environment through intermittent contacts, making accurate motion estimation fundamentally dependent on reasoning about contact dynamics. However, standard sensing pipelines-whether based on…

With the expected adoption of robots able to seamlessly and intuitively interact with people in real-world scenarios, the need arises to provide non-technically-skilled users with easy-to-understand paradigms for customising robot…

Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…