4 papers
Strong, Accurate, and Low-Cost Robot Manipulator
Georges Chebly, Spencer Little, Nisal Perera +3
This paper presents Forte, a fully 3D-printable, 6-DoF robotic arm designed to achieve near industrial-grade performance - 0.63 kg payload, 0.467 m reach, and sub-millimeter repeat…
A Biomechanics-Inspired Approach to Soccer Kicking for Humanoid Robots
Daniel Marew, Nisal Perera, Shangqun Yu +2
Soccer kicking is a complex whole-body motion that requires intricate coordination of various motor actions. To accomplish such dynamic motion in a humanoid robot, the robot needs…
Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains
Shangqun Yu, Nisal Perera, Daniel Marew +1
This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learnin…
StaccaToe: A Single-Leg Robot that Mimics the Human Leg and Toe
Nisal Perera, Shangqun Yu, Daniel Marew +6
We introduce StaccaToe, a human-scale, electric motor-powered single-leg robot designed to rival the agility of human locomotion through two distinctive attributes: an actuated toe…