相关论文: High-Speed and Impact Resilient Teleoperation of H…
Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for teleoperation of humanoid…
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…
Teleoperation is a powerful method to generate reference motions and enable humanoid robots to perform a broad range of tasks. However, teleoperation becomes challenging when using hand contacts and non-coplanar surfaces, often leading to…
Stable, low-latency whole-body teleoperation of humanoid robots is an open research challenge, complicated by kinematic mismatches between human and robot morphologies, accumulated inertial sensor noise, non-trivial control latency, and…
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 investigates humanoid whole-body dexterous manipulation, where the efficient collection of high-quality demonstration data remains a central bottleneck. Existing teleoperation systems often suffer from limited portability,…
We present Human to Humanoid (H2O), a reinforcement learning (RL) based framework that enables real-time whole-body teleoperation of a full-sized humanoid robot with only an RGB camera. To create a large-scale retargeted motion dataset of…
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…
The increasing demand for healthcare workers, driven by aging populations and labor shortages, presents a significant challenge for hospitals. Humanoid robots have the potential to alleviate these pressures by leveraging their human-like…
Achieving seamless synchronization between user and robot motion in teleoperation, particularly during high-speed tasks, remains a significant challenge. In this work, we propose a novel approach for transferring stepping motions from the…
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…
Real-time whole-body teleoperation is a critical method for humanoid robots to perform complex tasks in unstructured environments. However, developing a unified controller that robustly supports diverse human motions remains a significant…
Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…
Bilateral teleoperation provides humanoid robots with human planning intelligence while enabling the human to feel what the robot feels. It has the potential to transform physically capable humanoid robots into dynamically intelligent ones.…
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…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…
This work presents a teleoperated humanoid robot system that can imitate human motions, walk and turn. To capture human motions, a Microsoft Kinect Depth sensor is used. Unlike the cumbersome motion capture suits, the sensor makes the…
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…
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…