相关论文: Bioinspired Smooth Neuromorphic Control for Roboti…
We introduce SoftMimic, a framework for learning compliant whole-body control policies for humanoid robots from example motions. Imitating human motions with reinforcement learning allows humanoids to quickly learn new skills, but existing…
This paper delineates the formulation and verification of an innovative robotic forearm and elbow design, mirroring the intricate biomechanics of human skeletal and ligament systems. Conventional robotic models often undervalue the…
Open Arms is a novel open-source platform of realistic human-like robotic hands and arms hardware with 28 Degree-of-Freedom (DoF), designed to extend the capabilities and accessibility of humanoid robotic grasping and manipulation. The Open…
Neuromorphic engineering is essentially the development of artificial systems, such as electronic analog circuits that employ information representations found in biological nervous systems. Despite being faster and more accurate than the…
Minimum Jerk trajectories have been long thought to be the reference trajectories for human movements due to their impressive similarity with human movements. Nevertheless, minimum jerk trajectories are not the only choice for $C^\infty$…
This technical report gives an overview of our work on control algorithms dealing with redundant robot systems for achieving human-like motion characteristics. Previously, we developed a novel control law to exhibit human-motion…
Flapping-Wing Micro Aerial Vehicles (FWMAVs) provide exceptional maneuverability and aerodynamic efficiency but pose significant challenges for onboard control due to nonlinear dynamics and stringent Size, Weight, and Power (SWaP)…
The creation of unique control methods for a hand prosthesis is still a problem that has to be addressed. The best choice of a human-machine interface (HMI) that should be used to enable natural control is still a challenge. Surface…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Brain-inspired event-based neuromorphic processing systems have emerged as a promising technology in particular for bio-medical circuits and systems. However, both neuromorphic and biological implementations of neural networks have critical…
Since soft robotics are composed of compliant materials, they perform better than conventional rigid robotics in specific fields, such as medical applications. However, the field of soft robotics is fairly new, and the design process of…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
Neuromorphic computing exhibits great potential to provide high-performance benefits in various applications beyond neural networks. However, a general-purpose program execution model that aligns with the features of neuromorphic computing…
Robotic technologies have been an indispensable part for improving human productivity since they have been helping humans in completing diverse, complex, and intensive tasks in a fast yet accurate and efficient way. Therefore, robotic…
Traditional robotic mechanisms contain a series of rigid links connected by rotational joints that provide powered motion, all of which is controlled by a central processor. By contrast, analogous mechanisms found in nature, such as octopus…
Behaviour selection has been an active research topic for robotics, in particular in the field of human-robot interaction. For a robot to interact effectively and autonomously with humans, the coupling between techniques for human activity…
We address the longstanding challenge of producing flexible, realistic humanoid character controllers that can perform diverse whole-body tasks involving object interactions. This challenge is central to a variety of fields, from graphics…
The manufacturing industry is currently witnessing a paradigm shift with the unprecedented adoption of industrial robots, and machine vision is a key perception technology that enables these robots to perform precise operations in…
We introduce a neural network approach for generating and customizing the trajectory of a robotic arm, that guarantees precision and repeatability. To highlight the potential of this novel method, we describe the design and implementation…
In this study, we explore how the combination of synthetic biology, neuroscience modeling, and neuromorphic electronic systems offers a new approach to creating an artificial system that mimics the natural sense of smell. We argue that a…