[HTML][HTML] Reset-free trial-and-error learning for robot damage recovery
The high probability of hardware failures prevents many advanced robots (eg, legged
robots) from being confidently deployed in real-world situations (eg, post-disaster rescue) …
robots) from being confidently deployed in real-world situations (eg, post-disaster rescue) …
Adaptive mobile manipulation for articulated objects in the open world
Deploying robots in open-ended unstructured environments such as homes has been a long-
standing research problem. However, robots are often studied only in closed-off lab settings …
standing research problem. However, robots are often studied only in closed-off lab settings …
A friction-driven strategy for agile steering wheel manipulation by humanoid robots
Z Cai, X Zhu, P Gergondet, X Chen… - Cyborg and Bionic …, 2023 - spj.science.org
Vehicle driving can substantially enhance the maneuverability of humanoid robots. Agile
steering wheel manipulation requires rapid rotation in narrow spaces such as a cab, serving …
steering wheel manipulation requires rapid rotation in narrow spaces such as a cab, serving …
Sim2real2sim: Bridging the gap between simulation and real-world in flexible object manipulation
This paper addresses a new strategy called Simulation-to-Real-to-Simulation
(Sim2Real2Sim) to bridge the gap between simulation and real-world, and automate a …
(Sim2Real2Sim) to bridge the gap between simulation and real-world, and automate a …
Robust task-space quadratic programming for kinematic-controlled robots
M Djeha, P Gergondet… - IEEE Transactions on …, 2023 - ieeexplore.ieee.org
Task-space quadratic programming (QP) is an elegant approach for controlling robots
subject to constraints. Yet, in the case of kinematic-controlled (ie, high-gain position or …
subject to constraints. Yet, in the case of kinematic-controlled (ie, high-gain position or …
Model-based manipulation of linear flexible objects: Task automation in simulation and real world
Manipulation of deformable objects is a desired skill in making robots ubiquitous in
manufacturing, service, healthcare, and security. Common deformable objects (eg, wires …
manufacturing, service, healthcare, and security. Common deformable objects (eg, wires …
Telemanipulation via virtual reality interfaces with enhanced environment models
M Wonsick, T Keleștemur, S Alt… - 2021 IEEE/RSJ …, 2021 - ieeexplore.ieee.org
Extreme environments, such as search and rescue missions, defusing bombs, or exploring
extraterrestrial planets, are unsafe environments for humans to be in. Robots enable …
extraterrestrial planets, are unsafe environments for humans to be in. Robots enable …
A holistic approach to human-supervised humanoid robot operations in extreme environments
Nuclear energy will play a critical role in meeting clean energy targets worldwide. However,
nuclear environments are dangerous for humans to operate in due to the presence of highly …
nuclear environments are dangerous for humans to operate in due to the presence of highly …
Humanoid gait generation in complex environments based on template models and optimality principles learned from human beings
In this paper, we present an inverse optimal control-based transfer of motions from human
experiments to humanoid robots and apply it to walking in constrained environments. To this …
experiments to humanoid robots and apply it to walking in constrained environments. To this …
Carved turn control with gate vision recognition of a humanoid robot for giant slalom skiing on ski slopes
The performance of humanoid robots is improving, owing in part to their participation in robot
games such as the DARPA Robotics Challenge. Along with the 2018 Winter Olympics in …
games such as the DARPA Robotics Challenge. Along with the 2018 Winter Olympics in …