相关论文: Humanoid TeenSize Open Platform NimbRo-OP
Robotic surgery represents a major breakthrough in medical interventions, which has revolutionized surgical procedures. However, the high cost and limited accessibility of robotic surgery systems pose significant challenges for training…
Teleoperation of mobile bimanual manipulators requires simultaneous control of high-dimensional systems, often necessitating expensive specialized equipment. We present an open-source teleoperation framework that enables intuitive whole…
Humanoid robots represent the cutting edge of robotics research, yet their potential in entertainment remains largely unexplored. Entertainment as a field prioritizes visuals and form, a principle that contrasts with the purely functional…
Humanoid robots hold great promise for operating in human-centric environments, yet achieving robust whole-body coordination across the head, hands, and legs remains a major challenge. We present a system that combines a modular…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…
Humanoid robot soccer presents several challenges, particularly in maintaining system stability during aggressive kicking motions while achieving precise ball trajectory control. Current solutions, whether traditional position-based control…
In 2023, Rhoban Football Club reached the first place of the KidSize soccer competition for the fifth time, and received the best humanoid award. This paper presents and reviews important points in robots architecture and workflow, with…
The NUbots team, from The University of Newcastle, Australia, has had a strong record of success in the RoboCup Standard Platform League since first entering in 2002. The team has also competed within the RoboCup Humanoid Kid-Size League…
In recent years, research on humanoid robots has garnered significant attention, particularly in reinforcement learning based control algorithms, which have achieved major breakthroughs. Compared to traditional model-based control…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Dexterous object manipulation remains an open problem in robotics, despite the rapid progress in machine learning during the past decade. We argue that a hindrance is the high cost of experimentation on real systems, in terms of both time…
Humans possess a large reachable space in the 3D world, enabling interaction with objects at varying heights and distances. However, realizing such large-space reaching on humanoids is a complex whole-body control problem and requires the…
Teleoperation of beyond-human-scale robotic manipulators (BHSRMs) presents unique challenges that differ fundamentally from conventional human-scale systems. As these platforms gain relevance in industrial domains such as construction,…
Humanoid robots could be versatile and intuitive human avatars that operate remotely in inaccessible places: the robot could reproduce in the remote location the movements of an operator equipped with a wearable motion capture device while…
Tree fruit growers around the world are facing labor shortages for critical operations, including harvest and pruning. There is a great interest in developing robotic solutions for these labor-intensive tasks, but current efforts have been…
Complex high-dimensional spaces with high Degree-of-Freedom and complicated action spaces, such as humanoid robots equipped with dexterous hands, pose significant challenges for reinforcement learning (RL) algorithms, which need to wisely…
Humanoid-Gym is an easy-to-use reinforcement learning (RL) framework based on Nvidia Isaac Gym, designed to train locomotion skills for humanoid robots, emphasizing zero-shot transfer from simulation to the real-world environment.…
The teleoperation of complex, kinematically redundant robots with loco-manipulation capabilities represents a challenge for human operators, who have to learn how to operate the many degrees of freedom of the robot to accomplish a desired…
Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this…
Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This…