相关论文: Humanoid TeenSize Open Platform NimbRo-OP
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…
Robotic systems that can dynamically combine manipulation and locomotion could facilitate dangerous or physically demanding labor. For instance, firefighter humanoid robots could leverage their body by leaning against collapsed building…
We present a reinforcement learning framework for autonomous goalkeeping with humanoid robots in real-world scenarios. While prior work has demonstrated similar capabilities on quadrupedal platforms, humanoid goalkeeping introduces two…
Dynamic and contact-rich object manipulation, such as striking, snatching, or hammering, remains challenging for robotic systems due to hardware limitations. Most existing robots are constrained by high-inertia design, limited compliance,…
This paper describes a new research project that aims to develop a social robot designed to help children cope with painful and distressing medical procedures in a clinical setting. While robots have previously been trialled for this task,…
Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…
Human-Robot Teams offer the flexibility needed for partial automation in small and medium-sized enterprises (SMEs). They will thus be an integral part of Factories of the Future. Our research targets a particularly flexible teaming mode,…
Scaling Vision-Language-Action models for embodied manipulation demands large volumes of diverse manipulation data, yet the high cost of commercial mobile manipulators and teleoperation interfaces that are difficult to deploy at scale…
Aerial robots the size of a honeybee (~100 mg) have advantages over larger robots because of their small size, low mass and low materials cost. Previous iterations have demonstrated controlled flight but were difficult to fabricate because…
Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineering. Consequently, demonstrated…
Multilegged robots have the ability to perform stable locomotion on relatively rough terrain. However, the complexity of legged robots over wheeled or tracked robots make them difficult to control. This paper presents OpenSHC (Open-source…
Deep Learning has become exceptionally popular in the last few years due to its success in computer vision and other fields of AI. However, deep neural networks are computationally expensive, which limits their application in low power…
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body control is a promising hands-free strategy to command…
Reducing the complexity of higher order problems can enable solving them in analytical ways. In this paper, we propose an analytic whole body motion generator for humanoid robots. Our approach targets inexpensive platforms that possess…
To function autonomously in the physical world, humanoid robots need high-fidelity sensing systems, especially for forces that cannot be easily modeled. Modeling forces in robot feet is particularly challenging due to static indeterminacy,…
Pose estimation commonly refers to computer vision methods that recognize people's body postures in images or videos. With recent advancements in deep learning, we now have compelling models to tackle the problem in real-time. Since these…
The goal of RoboCup is to make research in the area of robotics measurable over time, and grow a community that works together to solve increasingly difficult challenges over the years. The most ambitious of these challenges it to be able…
Hardware platforms for socially interactive robotics can be limited by cost or lack of functionality. This paper presents the overall system -- design, hardware, and software -- for Quori, a novel, affordable, socially interactive humanoid…
Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility…
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…