相关论文: Human-Level Actuation for Humanoids
Achieving both behavioral similarity and appropriateness in human-like motion generation for humanoid robot remains an open challenge, further compounded by the lack of cross-embodiment adaptability. To address this problem, we propose…
Humanoid robots have achieved significant progress in motion generation and control, exhibiting movements that appear increasingly natural and human-like. Inspired by the Turing Test, we propose the Motion Turing Test, a framework that…
Humanoid robots hold great promise in assisting humans in diverse environments and tasks, due to their flexibility and adaptability leveraging human-like morphology. However, research in humanoid robots is often bottlenecked by the costly…
Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific…
Posture control and balance are basic requirements for a humanoid robot performing motor tasks like walking and interacting with the environment. For this reason, posture control is one of the elements taken into account when evaluating the…
Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…
We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…
To fluently collaborate with people, robots need the ability to recognize human activities accurately. Although modern robots are equipped with various sensors, robust human activity recognition (HAR) still remains a challenging task for…
The human body demonstrates exceptional motor capabilities-such as standing steadily on one foot or performing a high kick with the leg raised over 1.5 meters-both requiring precise balance control. While recent research on humanoid control…
For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of Degrees of Freedom (DoF) while simultaneously considering dynamic obstacles and human proximity has still not…
Supernumerary robotic limbs (SLs) have the potential to transform a wide range of human activities, yet their usability remains limited by key technical challenges, particularly in ensuring safety and achieving versatile control. Here, we…
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…
When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This…
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…
Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking…
Physical human-robot interactions (pHRI) are less efficient and communicative than human-human interactions, and a key reason is a lack of informative sense of touch in robotic systems. Interpreting human touch gestures is a nuanced,…
Humanoid robots are envisioned as embodied intelligent agents capable of performing a wide range of human-level loco-manipulation tasks, particularly in scenarios requiring strenuous and repetitive labor. However, learning these skills is…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
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…
We propose a new approach to Human Activity Evaluation (HAE) in long videos using graph-based multi-task modeling. Previous works in activity evaluation either directly compute a metric using a detected skeleton or use the scene information…