相关论文: Robot Drummer: Learning Rhythmic Skills for Humano…

Humanoid robots have demonstrated impressive motor skills in a wide range of tasks, yet whole-body control for humanlike long-time, dynamic fighting remains particularly challenging due to the stringent requirements on agility and…

In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment…

The six-degree-of-freedom (6-DOF) robotic arm has gained widespread application in human-coexisting environments. While previous research has predominantly focused on functional motion generation, the critical aspect of expressive motion in…

High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…

Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…

For decades, robotics researchers have pursued various tasks for multi-robot systems, from cooperative manipulation to search and rescue. These tasks are multi-robot extensions of classical robotic tasks and often optimized on dimensions…

The true promise of humanoid robotics lies beyond single-agent autonomy: two or more humanoids must engage in physically grounded, socially meaningful whole-body interactions that echo the richness of human social interaction. However,…

Robot manipulation is an important part of human-robot interaction technology. However, traditional pre-programmed methods can only accomplish simple and repetitive tasks. To enable effective communication between robots and humans, and to…

In the approximately century-long journey of robotics, humanoid robots made their debut around six decades ago. While current humanoids bear human-like appearances, none have embodied true humaneness, remaining distant from achieving…

Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…

Recent advancements in robotics have enabled robots to navigate complex scenes or manipulate diverse objects independently. However, robots are still impotent in many household tasks requiring coordinated behaviors such as opening doors.…

Training robots to perceive, act and communicate using multiple modalities still represents a challenging problem, particularly if robots are expected to learn efficiently from small sets of example interactions. We describe a learning…

Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run over large barriers. To address these limitations, we aim to…

This study investigates how adequate coordination among the different cognitive processes of a humanoid robot can be developed through end-to-end learning of direct perception of visuomotor stream. We propose a deep dynamic neural network…

From loco-motion to dextrous manipulation, humanoid robots have made remarkable strides in demonstrating complex full-body capabilities. However, the majority of current robot learning datasets and benchmarks mainly focus on stationary…

Drumming belongs to a family of musical instruments whose practice, whether as an amateur or at a high level, is associated with an increased risk of musculoskeletal disorders (MSD), particularly of the upper limbs and lumbar spine. The…

Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…

When we go for a walk with friends, we can observe an interesting effect: From step lengths to arm movements - our movements unconsciously align; they synchronize. Prior research found that this synchronization is a crucial aspect of human…

As robots increasingly become part of shared human spaces, their movements must transcend basic functionality by incorporating expressive qualities to enhance engagement and communication. This paper introduces a movement-centered design…

Children with Autism Spectrum Disorder (ASD) experience deficits in verbal and nonverbal communication skills including motor control, turn-taking, and emotion recognition. Innovative technology, such as socially assistive robots, has shown…