Search Results - "2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)"

Robust Immersive Telepresence and Mobile Telemanipulation: NimbRo wins ANA Avatar XPRIZE Finals by Schwarz, Max, Lenz, Christian, Memmesheimer, Raphael, Patzold, Bastian, Rochow, Andre, Schreiber, Michael, Behnke, Sven

“…Robotic avatar systems promise to bridge distances and reduce the need for travel. We present the updated NimbRo avatar system, winner of the 5M grand prize at…”
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Learning Torque Control for Quadrupedal Locomotion by Chen, Shuxiao, Zhang, Bike, Mueller, Mark W., Rai, Akshara, Sreenath, Koushil

“…Reinforcement learning (RL) has become a promising approach to developing controllers for quadrupedal robots. Conventionally, an RL design for locomotion…”
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ViT-A: Legged Robot Path Planning using Vision Transformer A by Liu, Jianwei, Lyu, Shirui, Hadjivelichkov, Denis, Modugno, Valerio, Kanoulas, Dimitrios

“…Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle…”
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SNU-Avatar Robot Hand: Dexterous Robot Hand with Prismatic Four-Bar Linkage for Versatile Daily Applications by Sung, Eunho, You, Seungbin, Kim, Seungyeon, Park, Jaeheung

“…This paper presents an innovative approach to designing a robot hand specifically tailored for the final round of the ANA Avatar XPRIZE Challenge, a…”
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ImitationNet: Unsupervised Human-to-Robot Motion Retargeting via Shared Latent Space by Yan, Yashuai, Mascaro, Esteve Valls, Lee, Dongheui

“…This paper introduces a novel deep-learning approach for human-to-robot motion retargeting, enabling robots to mimic human poses accurately. Contrary to prior…”
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Designing Anthropomorphic Soft Hands Through Interaction by Mannam, Pragna, Shaw, Kenneth, Bauer, Dominik, Oh, Jean, Pathak, Deepak, Pollard, Nancy

“…Modeling and simulating soft robot hands can aid in design iteration for complex and high degree-of-freedom (DoF) morphologies. This can be further…”
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Effects of Robotic Expertise and Task Knowledge on Physical Ergonomics and Joint Efficiency in a Human-Robot Collaboration Task by Pantano, Matteo, Curioni, Arianna, Regulin, Daniel, Kamps, Tobias, Lee, Dongheui

“…With the trend of low batch manufacturing, more and more small and medium enterprises are leaning towards adopting collaborative robots to increase…”
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Estimator-Coupled Reinforcement Learning for Robust Purely Tactile In-Hand Manipulation by Rostel, Lennart, Pitz, Johannes, Sievers, Leon, Bauml, Berthold

“…This paper identifies and addresses the problems with naively combining (reinforcement) learning-based controllers and state estimators for robotic in-hand…”
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Analytical Second-Order Derivatives of Rigid-Body Contact Dynamics: Application to Multi-Shooting DDP by Singh, Shubham, Russell, Ryan P., Wensing, Patrick M.

“…Differential Dynamic Programming (DDP) is a popular technique used to generate motion for dynamic-legged robots in the recent past. However, in most cases,…”
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Deep Imitation Learning for Humanoid Loco-manipulation Through Human Teleoperation by Seo, Mingyo, Han, Steve, Sim, Kyutae, Bang, Seung Hyeon, Gonzalez, Carlos, Sentis, Luis, Zhu, Yuke

“…We tackle the problem of developing humanoid loco-manipulation skills with deep imitation learning. The difficulty of collecting task demonstrations and…”
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Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints by Toshimitsu, Yasunori, Forrai, Benedek, Cangan, Barnabas Gavin, Steger, Ulrich, Knecht, Manuel, Weirich, Stefan, Katzschmann, Robert K.

“…Biomimetic, dexterous robotic hands have the potential to replicate much of the tasks that a human can do, and to achieve status as a general manipulation…”
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Self-Contained and Automatic Calibration of a Multi-Fingered Hand Using Only Pairwise Contact Measurements by Tenhumberg, Johannes, Sievers, Leon, Bauml, Berthold

“…A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially…”
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Exploring the Capabilities of a General-Purpose Robotic Arm in Chess Gameplay by Shin, Kazuki, Yamsani, Sankalp, Mineyev, Roman, Chen, Hongyu, Gandi, Nitish, Lee, Yong Jae, Kim, Joohyung

“…As the field of human-robot collaboration continues to grow and autonomous general-purpose service robots become more prevalent, robots need to obtain…”
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Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases by Egle, Tobias, Englsberger, Johannes, Ott, Christian

“…In this paper, we present a robust DCM-based online trajectory generator with step timing adaptation using MPC in addition to manipulating the ground reaction…”
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The Simplest Walking Robot: A Bipedal Robot with One Actuator and two Rigid Bodies by Kyle, James, Yim, Justin K., Hart, Kendall, Bergbreiter, Sarah, Johnson, Aaron M.

“…We present the design and experimental results of the first 1-DOF, hip-actuated bipedal robot. While passive dynamic walking is simple by nature, many existing…”
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TempoNet: Empowering Long-Term Knee Joint Angle Prediction with Dynamic Temporal Attention in Exoskeleton Control by Saoud, Lyes Saad, Hussain, Irfan

“…In the realm of exoskeleton control, achieving precise control poses challenges due to the mechanical delay of exoskeletons. To address this, incorporating…”
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Centroidal State Estimation and Control for Hardware-Constrained Humanoid Robots by Ficht, Grzegorz, Behnke, Sven

“…We introduce novel methods for state estimation, feedforward and feedback control, which specifically target humanoid robots with hardware limitations. Our…”
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Effects of Object Mass on Balancing for Whole-Body Lifting Tasks by Song, Hyunjong, Peng, William Z., Kim, Joo H.

“…Despite the importance and prevalence of loco-manipulation tasks by humanoids, existing criteria and control methods for stability are mostly developed for…”
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Tabletop Transparent Scene Reconstruction via Epipolar-Guided Optical Flow with Monocular Depth Completion Prior by Chen, Xiaotong, Zhou, Zheming, Deng, Zhuo, Ghasemalizadeh, Omid, Sun, Min, Kuo, Cheng-Hao, Sen, Arnie

“…Reconstructing transparent objects using affordable RGB-D cameras is a persistent challenge in robotic perception due to inconsistent appearances across views…”
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A Real-Time Approach for Humanoid Robot Walking Including Dynamic Obstacles Avoidance by Rossini, Luca, Hoffman, Enrico Mingo, Bang, Seung Hyeon, Sentis, Luis, Tsagarakis, Nikos G.

“…This paper proposes a novel approach to online re-plan the walking trajectory of a biped humanoid robot to avoid unexpected interactions and impacts with…”
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