相关论文: AGILOped: Agile Open-Source Humanoid Robot for Res…
When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can deform if there is a mechanical weakness. Under these…
Legged locomotion in humans is governed by natural dynamics of the human body and neural control. One mechanism that is assumed to contribute to the high efficiency of human walking is the impulsive ankle push-off, which potentially powers…
Loco-manipulation is a fundamental challenge for humanoid robots to achieve versatile interactions in human environments. Although recent studies have made significant progress in humanoid whole-body control, loco-manipulation remains…
As the global population ages, many seniors face the problem of loneliness. Companion robots offer a potential solution. However, current companion robots often lack advanced functionality, while task-oriented robots are not designed for…
Origami-inspired robots with multiple advantages, such as being lightweight, requiring less assembly, and exhibiting exceptional deformability, have received substantial and sustained attention. However, the existing origami-inspired robots…
One of the key arguments for building robots that have similar form factors to human beings is that we can leverage the massive human data for training. Yet, doing so has remained challenging in practice due to the complexities in humanoid…
The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…
Legged robots navigating cluttered environments must be jointly agile for efficient task execution and safe to avoid collisions with obstacles or humans. Existing studies either develop conservative controllers (< 1.0 m/s) to ensure safety,…
We introduce StaccaToe, a human-scale, electric motor-powered single-leg robot designed to rival the agility of human locomotion through two distinctive attributes: an actuated toe and a co-actuation configuration inspired by the human leg.…
This paper describes RHP Friends, a social humanoid robot developed to enable assistive robotic deployments in human-coexisting environments. As a use-case application, we present its potential use in nursing by extending its capabilities…
Exploring bodies of water on their surface allows robots to efficiently communicate and harvest energy from the sun. On the water surface, however, robots often face highly unstructured environments, cluttered with plant matter, animals,…
Large-scale data has driven breakthroughs in robotics, from language models to vision-language-action models in bimanual manipulation. However, humanoid robotics lacks equally effective data collection frameworks. Existing humanoid…
Despite their remarkable advancement in locomotion and manipulation, humanoid robots remain challenged by a lack of synchronized loco-manipulation control, hindering their full dynamic potential. In this work, we introduce a versatile and…
We combine MAP-Elites and highly parallelisable simulation to explore the design space of a class of large legged robots, which stand at around 2m tall and whose design and construction is not well-studied. The simulation is modified to…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
We introduce $\Psi_0$ (Psi-Zero), an open foundation model to address challenging humanoid loco-manipulation tasks. While existing approaches often attempt to address this fundamental problem by co-training on large and diverse human and…
We present the design and experimental results of the first 1-DOF, hip-actuated bipedal robot. While passive dynamic walking is simple by nature, many existing bipeds inspired by this form of walking are complex in control, mechanical…
We perform a Systematic Literature Review to discover how Humanoid robots are being applied in Socially Assistive Robotics experiments. Our search returned 24 papers, from which 16 were included for closer analysis. To do this analysis we…
Planning balanced and collision-free motion for humanoid robots is non-trivial, especially when they are operated in complex environments, such as reaching targets behind obstacles or through narrow passages. We propose a method that allows…
We present the GRASPion, a compact, open-source bristlebot designed for the controlled study of active matter systems. Built around a low-cost Arduino-compatible board and modular 3D-printed components, the GRASPion combines ease of use,…