相关论文: CHIP: Adaptive Compliance for Humanoid Control thr…
Adaptive control can address model uncertainty in control systems. However, it is preliminarily designed for tracking control. Recent advancements in the control of quadruped robots show that force control can effectively realize agile and…
Accurate grasp force control is one of the key skills for ensuring successful and damage-free robotic grasping of objects. Although existing methods have conducted in-depth research on slip detection and grasping force planning, they often…
Humanoid robots are designed to perform diverse loco-manipulation tasks. However, they face challenges due to their high-dimensional and unstable dynamics, as well as the complex contact-rich nature of the tasks. Model-based optimal control…
Mirroring non-verbal social cues such as affect or movement can enhance human-human and human-robot interactions in the real world. The robotic platforms and control methods also impact people's perception of human-robot interaction.…
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
Manipulation with whole-body contact by humanoid robots offers distinct advantages, including enhanced stability and reduced load. On the other hand, we need to address challenges such as the increased computational cost of motion…
Safety, reliability, and user trust are crucial in human-robot interaction (HRI) where the robots must address hazards in real-time. This study presents hazard driven low-level control strategies implemented in robot-assisted dressing (RAD)…
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…
Physical Human-Robot Interaction (pHRI) task involves tight coupling between safety constraints and compliance with human intentions. In this paper, a novel switched model reference admittance controller is developed to maintain compliance…
Swarms of robots will revolutionize many industrial applications, from targeted material delivery to precision farming. Controlling the motion and behavior of these swarms presents unique challenges for human operators, who cannot yet…
Humanoid robots hold the potential for unparalleled versatility in performing human-like, whole-body skills. However, achieving agile and coordinated whole-body motions remains a significant challenge due to the dynamics mismatch between…
Humanoid robotics has strong potential to transform daily service and caregiving applications. Although recent advances in general motion tracking within physics engines (GMT) have enabled virtual characters and humanoid robots to reproduce…
As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptability, and precise control. This work presents a real-time…
Despite significant advancements in robotic manipulation, achieving consistent and stable grasping remains a fundamental challenge, often limiting the successful execution of complex tasks. Our analysis reveals that even state-of-the-art…
Humans and animals developed a sophisticated motor control apparatus and there is much evidence that it has a modular structure. The modularity offers a range of benefits, e.g. ability to learn dissociable motion styles without interference…
Wearable robots offer a promising solution for quantitatively monitoring gait and providing systematic, adaptive assistance to promote patient independence and improve gait. However, due to significant interpersonal and intrapersonal…
Quadrupedal manipulators require to be compliant when dealing with external forces during autonomous manipulation, tele-operation or physical human-robot interaction. This paper presents a whole-body controller that allows for the…
This paper proposes a novel framework for humanoid robots to execute inspection tasks with high efficiency and millimeter-level precision. The approach combines hierarchical planning, time-optimal standing position generation, and…
This paper proposes a task-specific trajectory optimization framework for human-robot collaboration, enabling adaptive motion planning based on human interaction dynamics. Unlike conventional approaches that rely on predefined desired…