相关论文: A Hierarchical, Model-Based System for High-Perfor…
Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics resulting from impacts. With the goal of addressing this…
Humanoid robots offer significant versatility for performing a wide range of tasks, yet their basic ability to walk and run, especially at high velocities, remains a challenge. This letter presents a novel method that combines deep…
We present a game benchmark for testing human-swarm control algorithms and interfaces in a real-time, high-cadence scenario. Our benchmark consists of a swarm vs. swarm game in a virtual ROS environment in which the goal of the game is to…
In the landscape of technological innovation, autonomous racing is a dynamic and challenging domain that not only pushes the limits of technology, but also plays a crucial role in advancing and fostering a greater acceptance of autonomous…
In trying to build humanoid robots that perform useful tasks in a world built for humans, we address the problem of autonomous locomotion. Humanoid robot planning and control algorithms for walking over rough terrain are becoming…
This paper presents a system for enabling real-time synthesis of whole-body locomotion and manipulation policies for real-world legged robots. Motivated by recent advancements in robot simulation, we leverage the efficient parallelization…
One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet,…
Low latency and accuracy are fundamental requirements when vision is integrated in robots for high-speed interaction with targets, since they affect system reliability and stability. In such a scenario, the choice of the sensor and…
Humanoid robots are envisioned to adapt demonstrated motions to diverse real-world conditions while accurately preserving motion patterns. Existing motion prior approaches enable well adaptability with a few motions but often sacrifice…
We summarise the results of RoboCup 2D Soccer Simulation League in 2016 (Leipzig), including the main competition and the evaluation round. The evaluation round held in Leipzig confirmed the strength of RoboCup-2015 champion (WrightEagle,…
In contrast to quadruped robots that can navigate diverse terrains using a "blind" policy, humanoid robots require accurate perception for stable locomotion due to their high degrees of freedom and inherently unstable morphology. However,…
Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…
Soccer, as a dynamic team sport, requires seamless coordination and integration of tactical strategies across all players. Adapting to new tactical systems is a critical but often challenging aspect of soccer at all professional levels.…
Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…
Every year, the Robocup@Home competition challenges teams and robots' abilities. In 2020, the RoboCup@Home Education challenge was organized online, altering the usual competition rules. In this paper, we present the latest developments…
A fundamental task in detecting foreground objects in both static and dynamic scenes is to take the best choice of color system representation and the efficient technique for background modeling. We propose in this paper a non-parametric…
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…
Ergonomics is a key factor to consider when designing control architectures for effective physical collaborations between humans and humanoid robots. In contrast, ergonomic indexes are often overlooked in the robot design phase, which leads…
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…
Current approaches to humanoid control generally fall into two paradigms: perceptive locomotion, which handles terrain well but is limited to pedal gaits, and general motion tracking, which reproduces complex skills but ignores…