相关论文: Humanoid Robot Acrobatics Utilizing Complete Artic…
Imitation learning has been actively studied in recent years. In particular, skill acquisition by a robot with a fixed body, whose root link position and posture and camera angle of view do not change, has been realized in many cases. On…
Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and efficiency still remains challenging. This is notably the…
Reinforcement learning (RL) controllers have made impressive progress in humanoid locomotion and light-weight object manipulation. However, achieving robust and precise motion control with intense force interaction remains a significant…
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…
The tendon-driven musculoskeletal humanoid has many benefits that human beings have, but the modeling of its complex muscle and bone structures is difficult and conventional model-based controls cannot realize intended movements. Therefore,…
Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the agents, challenges arise in the modelling and control of…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
Whole-body humanoid motion represents a fundamental challenge in robotics, requiring balance, coordination, and adaptability to enable human-like behaviors. However, existing methods typically require multiple training samples per motion,…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
Parkour is a grand challenge for legged locomotion, even for quadruped robots, requiring active perception and various maneuvers to overcome multiple challenging obstacles. Existing methods for humanoid locomotion either optimize a…
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…
Rock skipping is a highly dynamic and relatively complex task that can easily be performed by humans. This project aims to bring rock skipping into a robotic setting, utilizing the lessons we learned in Robotic Manipulation. Specifically,…
Push recovery during locomotion will facilitate the deployment of humanoid robots in human-centered environments. In this paper, we present a unified framework for walking control and push recovery for humanoid robots, leveraging the arms…
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including uncertainties and stochasticity in the TO problem to generate robust motions can easily lead to…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
Simulating large-scale articulated assemblies poses a significant challenge due to the numerical stiffness and geometric complexity of jointed structures. Conventional rigid body solvers struggle with the high nonlinearity induced by…
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…