5 papers
QuietWalk: Physics-Informed Reinforcement Learning for Ground Reaction Force-Aware Humanoid Locomotion Under Diverse Footwear
Hanze Hu, Luying Feng, Silu Chen +6
Humanoid robots operating in human-centered environments (e.g., homes, hospitals, and offices) must mitigate foot--ground impact transients, as impact-induced vibration and noise d…
Biomechanical Comparisons Reveal Divergence of Human and Humanoid Gaits
Luying Feng, Yaochu Jin, Hanze Hu +1
It remains challenging to achieve human-like locomotion in legged robots due to fundamental discrepancies between biological and mechanical structures. Although imitation learning…
Extended Hybrid Zero Dynamics for Bipedal Walking of the Knee-less Robot SLIDER
Rui Zong, Martin Liang, Yuntian Fang +4
Knee-less bipedal robots like SLIDER have the advantage of ultra-lightweight legs and improved walking energy efficiency compared to traditional humanoid robots. In this paper, we…
GraphGarment: Learning Garment Dynamics for Bimanual Cloth Manipulation Tasks
Wei Chen, Kelin Li, Dongmyoung Lee +3
Physical manipulation of garments is often crucial when performing fabric-related tasks, such as hanging garments. However, due to the deformable nature of fabrics, these operation…
Haptic-ACT: Bridging Human Intuition with Compliant Robotic Manipulation via Immersive VR
Kelin Li, Shubham M Wagh, Nitish Sharma +4
Robotic manipulation is essential for the widespread adoption of robots in industrial and home settings and has long been a focus within the robotics community. Advances in artific…