5 papers
RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation
Shihan Wu, Xuecheng Liu, Shaoxuan Xie +81
Despite the critical role of bimanual manipulation in endowing robots with human-like dexterity, large-scale and diverse datasets remain scarce due to the significant hardware hete…
Dynamic Whole-Body Dancing with Humanoid Robots -- A Model-Based Control Approach
Shibowen Zhang, Jiayang Wu, Guannan Liu +12
This paper presents an integrated model-based framework for generating and executing dynamic whole-body dance motions on humanoid robots. The framework operates in two stages: offl…
Path and Motion Optimization for Efficient Multi-Location Inspection with Humanoid Robots
Jiayang Wu, Jiongye Li, Shibowen Zhang +8
This paper proposes a novel framework for humanoid robots to execute inspection tasks with high efficiency and millimeter-level precision. The approach combines hierarchical planni…
SymBridge: A Human-in-the-Loop Cyber-Physical Interactive System for Adaptive Human-Robot Symbiosis
Haoran Chen, Yiteng Xu, Yiming Ren +14
The development of intelligent robots seeks to seamlessly integrate them into the human world, providing assistance and companionship in daily life and work, with the ultimate goal…
Bipedal Robust Walking on Uneven Footholds: Piecewise Slope LIPM with Discrete Model Predictive Control
Yapeng Shi, Sishu Li, Yongqiang Wu +4
This study presents an enhanced theoretical formulation for bipedal hierarchical control frameworks under uneven terrain conditions. Specifically, owing to the inherent limitations…