相关论文: Human-Level Actuation for Humanoids

This technical report gives an overview of our work on control algorithms dealing with redundant robot systems for achieving human-like motion characteristics. Previously, we developed a novel control law to exhibit human-motion…

Understanding action correspondence between humans and robots is essential for evaluating alignment in decision-making, particularly in human-robot collaboration and imitation learning within unstructured environments. We propose a…

To enable humanoid robots to work robustly in confined environments, multi-contact motion that makes contacts not only at extremities, such as hands and feet, but also at intermediate areas of the limbs, such as knees and elbows, is…

With robots becoming increasingly prevalent in various domains, it has become crucial to equip them with tools to achieve greater fluency in interactions with humans. One of the promising areas for further exploration lies in human trust. A…

This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…

This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…

Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for teleoperation of humanoid…

To bridge the physical and virtual worlds for rapidly developed VR/AR applications, the ability to realistically drive 3D full-body avatars is of great significance. Although real-time body tracking with only the head-mounted displays…

The Industry 4.0 paradigm emphasizes the crucial benefits that collaborative robots, i.e., robots able to work alongside and together with humans, could bring to the whole production process. In this context, an enabling technology yet…

Humanoid robots are expected to operate in human-centered environments where safe and natural physical interaction is essential. However, most recent reinforcement learning (RL) policies emphasize rigid tracking and suppress external…

In this paper, we present a descriptor for human whole-body actions based on motion coordination. We exploit the principle, well known in neuromechanics, that humans move their joints in a coordinated fashion. Our coordination-based…

Robotic assembly tasks involve complex and low-clearance insertion trajectories with varying contact forces at different stages. While the nominal motion trajectory can be easily obtained from human demonstrations through kinesthetic…

We present a hierarchical policy-learning framework that enables a legged humanoid to cooperatively carry extended loads with a human partner using only haptic cues for intent inference. At the upper tier, a lightweight behavior-cloning…

Human-robot interaction (HRI) research is progressively addressing multi-party scenarios, where a robot interacts with more than one human user at the same time. Conversely, research is still at an early stage for human-robot collaboration.…

Transfer of objects between humans and robots is a critical capability for collaborative robots. Although there has been a recent surge of interest in human-robot handovers, most prior research focus on robot-to-human handovers. Further,…

Activity recognition using built-in sensors in smart and wearable devices provides great opportunities to understand and detect human behavior in the wild and gives a more holistic view of individuals' health and well being. Numerous…

Humanoid robots are entering our physical world at scale, yet as oversized toys--good at singing and dancing, but short on force-interaction capabilities for practical tasks. Bridging this gap necessitates prioritizing reliable contact…

Using intelligent systems to perceive psychological and social behaviors, that is, the underlying affective, cognitive, and pathological states that are manifested through observable behaviors and social interactions, remains a challenge…

We introduce a novel framework for automatic behavior tree (BT) construction in heterogeneous multi-robot systems, designed to address the challenges of adaptability and robustness in dynamic environments. Traditional robots are limited by…

Human-robot interactions (HRI) can be modeled as dynamic or differential games with incomplete information, where each agent holds private reward parameters. Due to the open challenge in finding perfect Bayesian equilibria of such games,…