相关论文: Child-sized 3D Printed igus Humanoid Open Platform
There are a large number of robotic platforms with two or more arms targeting surgical applications. Despite that, very few groups have employed such platforms for scientific exploration. Possible applications of a multi-arm platform in…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
Purpose of Review: As new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview with insight on the advantages and disadvantages of available…
The humanoid robot iCub is a research platform of the Fondazione Istituto Italiano di Tecnologia (IIT), spread among different institutes around the world. In the most recent version of iCub, the robot is equipped with stronger legs and…
We present an open-source accessory for the NAO robot, which enables to test computationally demanding algorithms in an external platform while preserving robot's autonomy and mobility. The platform has the form of a backpack, which can be…
Simulation is an important step in robotics for creating control policies and testing various physical parameters. Soft robotics is a field that presents unique physical challenges for simulating its subjects due to the nonlinearity of…
Robotic models are useful for independently varying specific features, but most quadrupedal robots differ so greatly from animal morphologies that they have minimal biomechanical relevance. Commercially available quadrupedal robots are also…
Whole-body geometric calibration of humanoid robots using classical robot calibration methods is a timeconsuming and experimentally burdensome task. However, despite its significance for accurate control and simulation, it is often…
Impressive animal locomotion capabilities are mediated by the co-evolution of the skeletal morphology and muscular properties. Legged robot performance would also likely benefit from the co-optimization of actuators and leg morphology.…
We present M, an open-source, low-cost social robot platform designed to reduce platform friction that slows social robotics research by making robots easier to reproduce, modify, and deploy in real-world settings. M combines a modular…
In this paper, we present STRIDE, a Simple, Terrestrial, Reconfigurable, Intelligent, Dynamic, and Educational bipedal platform. STRIDE aims to propel bipedal robotics research and education by providing a cost-effective implementation with…
Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…
Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform…
This paper shows the potential of a Lego\c{opyright} based low-cost commercial robotic platform for learning and testing prototypes in higher education and research. The overall setup aims to explain mobile robotic issues strongly related…
Launched by Elon Musk and its Optimus, we are witnessing a new race in which many companies have already engaged. The objective it to put at work a new generation of humanoid robots in demanding industrial environments within 2 or 3 years.…
We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It generates whole-body motions from desired foot trajectories and…
Towards the role of humanoid robots as squad mates in urban operations and other domains, we identified doors as a major area lacking capability development. In this paper, we focus on the ability of humanoid robots to navigate and deal…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…
Since most developed countries are facing an increase in the number of patients per healthcare worker due to a declining birth rate and an aging population, relatively simple and safe diagnosis tasks may need to be performed using robotics…
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and…