相关论文: HeLoM: Hierarchical Learning for Whole-Body Loco-M…
We introduce HCLM, a hierarchical framework for general-purpose cooperative loco-manipulation with dual quadrupedal systems. Coordinating multi-robot collaborative manipulation across floating bases is highly challenging due to the…
Enabling robots to autonomously perform hybrid motions in diverse environments can be beneficial for long-horizon tasks such as material handling, household chores, and work assistance. This requires extensive exploitation of intrinsic…
In recent years, the field of legged robotics has seen growing interest in enhancing the capabilities of these robots through the integration of articulated robotic arms. However, achieving successful loco-manipulation, especially involving…
As legged robots take on roles in industrial and autonomous construction, collaborative loco-manipulation is crucial for handling large and heavy objects that exceed the capabilities of a single robot. However, ensuring the safety of these…
Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of explainability, unconstrained RL policies deployed in the real…
We propose a learning-based system for enabling quadrupedal robots to manipulate large, heavy objects using their whole body. Our system is based on a hierarchical control strategy that uses the deep latent variable embedding which captures…
Humanoid robots, capable of assuming human roles in various workplaces, have become essential to embodied intelligence. However, as robots with complex physical structures, learning a control model that can operate robustly across diverse…
Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine learning and the strength of existing model-based approaches,…
We show dynamic locomotion strategies for wheeled quadrupedal robots, which combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the…
Space robots have played a critical role in autonomous maintenance and space junk removal. Multi-arm space robots can efficiently complete the target capture and base reorientation tasks due to their flexibility and the collaborative…
This work presents an extended framework for learning-based bipedal locomotion that incorporates a heuristic step-planning strategy guided by desired torso velocity tracking. The framework enables precise interaction between a humanoid…
Developing a framework for the locomotion of a six-legged robot or a hexapod is a complex task that has extensive hardware and computational requirements. In this paper, we present a bio-inspired framework for the locomotion of a hexapod.…
Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and…
Animals such as rabbits and birds can instantly generate locomotion behavior in reaction to a dynamic, approaching object, such as a person or a rock, despite having possibly never seen the object before and having limited perception of the…
Seamless loco-manipulation in unstructured environments requires robots to leverage autonomous exploration alongside whole-body control for physical interaction. In this work, we introduce HANDO (Hierarchical Autonomous Navigation and…
Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…
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…
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…
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…