6 papers · 1 filter
Learning Asynchronous Upper-body Task-space Trajectory Tracking Policy for Humanoid Robots
Yumeng Liu, Dongqi Wang, Jiyu Yu +3
High-level humanoid planners often output sparse task-space, low-rate trajectories, whereas whole-body controllers run at high frequency. This creates temporal asynchrony between t…
Neural Ranging Inertial Odometry
Si Wang, Bingqi Shen, Fei Wang +3
Ultra-wideband (UWB) has shown promising potential in GPS-denied localization thanks to its lightweight and drift-free characteristics, while the accuracy is limited in real scenar…
A Whole-Body Motion Imitation Framework from Human Data for Full-Size Humanoid Robot
Zhenghan Chen, Haodong Zhang, Dongqi Wang +4
Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-l…
Natural Humanoid Robot Locomotion with Generative Motion Prior
Haodong Zhang, Liang Zhang, Zhenghan Chen +3
Natural and lifelike locomotion remains a fundamental challenge for humanoid robots to interact with human society. However, previous methods either neglect motion naturalness or r…
Compliance while resisting: a shear-thickening fluid controller for physical human-robot interaction
Lu Chen, Lipeng Chen, Xiangchi Chen +6
Physical human-robot interaction (pHRI) is widely needed in many fields, such as industrial manipulation, home services, and medical rehabilitation, and puts higher demands on the…
Pretraining-finetuning Framework for Efficient Co-design: A Case Study on Quadruped Robot Parkour
Ci Chen, Jiyu Yu, Haojian Lu +3
In nature, animals with exceptional locomotion abilities, such as cougars, often possess asymmetric fore and hind legs. This observation inspired us: could optimizing the leg lengt…