This paper addresses recursive markerless estimation of a robot's end-effector using visual observations from its cameras. The problem is formulated into the Bayesian framework and addressed using Sequential Monte Carlo (SMC) filtering. We use a 3D rendering engine and Computer Aided Design (CAD) schematics of the robot to virtually create images from the robot's camera viewpoints. These images are then used to extract information and estimate the pose of the end-effector. To this aim, we developed a particle filter for estimating the position and orientation of the robot's end-effector using the Histogram of Oriented Gradient (HOG) descriptors to capture robust characteristic features of shapes in both cameras and rendered images. We implemented the algorithm on the iCub humanoid robot and employed it in a closed-loop reaching scenario. We demonstrate that the tracking is robust to clutter, allows compensating for errors in the robot kinematics and servoing the arm in closed loop using vision.
Learning Differentiable Reachability Maps for Optimization-based Humanoid Motion Generation
CNRS-AIST JRL (Joint Robotics Laboratory)（法国国家科学研究中心-日本产业技术综合研究所联合机器人实验室）；IRL（智能机器人实验室）；National Institute of Advanced Industrial Science and Technology (AIST)（国家先进工业科学与技术研究所）
Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots
Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China（人形机器人研究院，精密机械与精密仪器系，中国科学技术大学）
Robot self-calibration using multiple kinematic chains -- a simulation study on the iCub humanoid robot
Czech Technical University in Prague（布拉格捷克理工大学）；Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague（布拉格捷克理工大学捷克信息学、机器人学与控制论研究所）
Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control
Montpellier Laboratory of Informatics, Robotics and Microelectronics (LIRMM), CNRS–University of Montpellier（蒙彼利埃信息学、机器人学与微电子实验室（LIRMM），法国国家科学研究中心-蒙彼利埃大学）；CNRS–AIST Joint Robotics Laboratory (JRL)（法国国家科学研究中心-日本产业技术综合研究所联合机器人实验室（JRL））
Path and Motion Optimization for Efficient Multi-Location Inspection with Humanoid Robots
State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing（国家通用人工智能重点实验室，北京通用人工智能研究院（BIGAI））；Department of Automation, Tsinghua University（自动化系，清华大学）；Department of Automation, University of Science and Technology of China（自动化系，中国科学技术大学）；Department of Computer Science, Harbin Institute of Technology（计算机科学系，哈尔滨工业大学）；Institute for Artificial Intelligence and School of Artificial Intelligence, Peking University（人工智能研究院和人工智能学院，北京大学）
Lyapunov-Stable Orientation Estimator for Humanoid Robots
CNRS-AIST JRL (Joint Robotics Laboratory), IRL, National Institute of Advanced Industrial Science and Technology (AIST)（法国国家科学研究中心-日本产业技术综合研究所联合机器人实验室（联合研究实验室），日本产业技术综合研究所）；Laboratoire d’Ingénierie des Systèmes de Versailles（凡尔赛系统工程实验室）；Université Paris-Saclay, CentraleSupélec, CNRS（巴黎萨克雷大学，中央理工-高等电力学院，法国国家科学研究中心）
EgoHumanoid-V2: Human-to-Humanoid Transfer of Coordinated Whole-Body Skills for Loco-Manipulation
OpenDriveLab at The University of Hong Kong（香港大学OpenDriveLab）；Alibaba Group（阿里巴巴集团）；Shanghai Innovation Institute（上海创新研究院）；Fudan University（复旦大学）；Beihang University（北京航空航天大学）；Sichuan University（四川大学）；Archon Robotics（Archon机器人公司）
Reflex: Visually Grounded Reactive Humanoid Control
University of Washington（华盛顿大学）；Stanford University（斯坦福大学）；University of Southern California（南加州大学）；National University of Singapore（新加坡国立大学）；University of North Carolina at Chapel Hill（北卡罗来纳大学教堂山分校）；Allen Institute for AI（艾伦人工智能研究所）
M3imic: Learning a Versatile Whole-Body Controller for Multimodal Motion Mimicking
School of Automation, Southeast University（东南大学自动化学院）；School of Vehicle and Mobility, Tsinghua University（清华大学车辆与移动性学院）；Department of Robotics, Mohamed Bin Zayed University of Artificial Intelligence（马尔代夫比兹亚德大学人工智能学院机器人系）
Learning at the Ends: From Hand to Tool Affordances in Humanoid Robots
Instituto Superior Técnico, Universidade de Lisboa（里斯本大学高等理工学院）；Champalimaud Centre for the Unknown（尚帕利莫未知中心）；Queen Mary University of London（伦敦玛丽女王大学）
