相关论文: Online Balanced Motion Generation for Humanoid Rob…

Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking…

Humanoid robots can support human workers in physically demanding environments by performing tasks that require whole-body coordination, such as lifting and transporting heavy objects.These tasks, which we refer to as Dynamic Mobile…

This paper investigates the problem of efficient computation of physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, the problem could be decomposed into simpler kinematic and centroidal dynamic…

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…

We present a feasibility-driven teleoperation framework designed to generate humanoid multi-contact maneuvers for use in unstructured environments. Our framework is designed for motions with arbitrary contact modes and postures. The…

The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…

The hybrid zero dynamics (HZD) approach has become a powerful tool for the gait planning and control of bipedal robots. This paper aims to extend the HZD methods to address walking, ambling and trotting behaviors on a quadrupedal robot. We…

The traditional distributed model of autonomous, homogeneous, mobile point robots usually assumes that the robots do not create any visual obstruction for the other robots, i.e., the robots are see through. In this paper, we consider a…

Humanoid robots with behavioral autonomy have consistently been regarded as ideal collaborators in our daily lives and promising representations of embodied intelligence. Compared to fixed-based robotic arms, humanoid robots offer a larger…

We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…

Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research has focused primarily on optimizing…

We propose an unsupervised vision-based system to estimate the joint configurations of the robot arm from a sequence of RGB or RGB-D images without knowing the model a priori, and then adapt it to the task of category-independent…

Achieving stable and robust perceptive locomotion for bipedal robots in unstructured outdoor environments remains a critical challenge due to complex terrain geometry and susceptibility to external disturbances. In this work, we propose a…

This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact…

In future, robots will be present in everyday life. The development of these supporting robots is a challenge. A fundamental task for assistance robots is to pick up and hand over objects to humans. By interacting with users, soft factors…

Remote-controlled humanoid robots can revolutionize manufacturing, construction, and healthcare industries by performing complex or dangerous manual tasks traditionally done by humans. We refer to these behaviors as Dynamic…

Recent progress in stochastic motion prediction, i.e., predicting multiple possible future human motions given a single past pose sequence, has led to producing truly diverse future motions and even providing control over the motion of some…

The future where the industrial shop-floors witness humans and robots working in unison and the domestic households becoming a shared space for both these agents is not very far. The scientific community has been accelerating towards that…

Throwing with a legged robot involves precise coordination of object manipulation and locomotion - crucial for advanced real-world interactions. Most research focuses on either manipulation or locomotion, with minimal exploration of tasks…

This work presents a motion retargeting approach for legged robots, aimed at transferring the dynamic and agile movements to robots from source motions. In particular, we guide the imitation learning procedures by transferring motions from…