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Humanoid robots are designed and built to mimic human form and movement. Ultimately, they are meant to resemble the size and physical abilities of a human in order to function in human-oriented environments and to work autonomously but to pose no physical ...
Despite tremendous advances in robotics, we are still amazed by the proficiency with which humans perform movements. Even new waves of robotic systems still rely heavily on hardcoded motions with a limited ability to react autonomously and robustly to a dy ...
Bringing robots as collaborative partners into homes presents various challenges to human-robot interaction. Robots will need to interact with untrained users in environments that are originally designed for humans. Compared to their industrial homologous ...
Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to senso ...
Despite many efforts, balance control of humanoid robots in the presence of unforeseen external or internal forces has remained an unsolved problem. The difficulty of this problem is a consequence of the high dimensionality of the action space of a humanoi ...
This paper deals with whole-body motion planning and dynamic control for humanoid from two aspects: locomotion including manipulation and reaching. In the first part, we address a problem of simultaneous locomotion and manipulation planning that combines a ...
When a robot is situated in an environment containing multiple possible interaction partners, it has to make decisions about when to engage specific users and how to detect and react appropriately to actions of the users that might signal the intention to ...
We consider the problem of learning robust models of robot motion through demonstration. An approach based on Hidden Markov Model (HMM) and Gaussian Mixture Regression (GMR) is proposed to extract redundancies across multiple demonstrations, and build a ti ...
In the context of object interaction and manipulation, one characteristic of a robust grasp is its ability to comply with external perturbations applied to the grasped object while still maintaining the grasp. In this work we introduce an approach for gras ...
We present an algorithm enabling a humanoid robot to visually learn its body schema, knowing only the number of degrees of freedom in each limb. By “body schema” we mean the joint positions and orientations and thus the kinematic function. The learning is ...
