We seek to augment human manipulation by enabling humans to control two robotic arms in addition to their natural arms using their feet. Thereby, the hands are free to perform tasks of high dexterity, while the feet-controlled arms perform tasks requiring lower dexterity, such as supporting a load. The robotic arms are tele-operated through two foot interfaces that transmit translation and rotation to the end effector of the manipulator. Haptic feedback is provided for the human to perceive contact and change in load and to adapt the feet pressure accordingly.
Existing foot interfaces have been used primarily for a single foot control and are limited in range of motion and number of degrees of freedom they can control. This paper presents foot-interfaces specifically made for bipedal control, with a workspace suitable for two feet operation and in five degrees of freedom each. This paper also presents a position-force teleoperation controller based on Impedance Control modulated through Dynamical Systems for trajectory generation. Finally, an initial validation of the platform is presented, whereby a user grasps an object with both feet and generates various disturbances while the object is supported by the feet.
X2-N: A Transformable Wheel-legged Humanoid Robot with Dual-mode Locomotion and Manipulation
Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology（香港理工大学电子与计算机工程系）；X-lab Department, Agibot Innovation Company（阿吉博创新公司X实验室）
Investigating the Performance of Soft Robotic Adaptive Feet with Longitudinal and Transverse Arches
Soft Robotics for Human Cooperation and Rehabilitation Lab, Fondazione Istituto Italiano di Tecnologia（人类合作与康复软机器人实验室，意大利理工研究院）；Department of Information Engineering, University of Pisa（帕尔马大学信息工程系）
High-Precise Robot Arm Manipulation based on Online Iterative Learning and Forward Simulation with Positioning Error Below End-Effector Physical Minimum Displacement
Reflective VLM Planning for Dual-Arm Desktop Cleaning: Bridging Open-Vocabulary Perception and Precise Manipulation
Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所）；Department of Electrical and Computer Engineering, Carnegie Mellon University（卡内基梅隆大学电气与计算机工程系）；College of Aeronautics & Engineering, Kent State University（肯特州立大学航空与工程学院）
PA-BiCoop: A Primary-Auxiliary Cooperative Framework for General Bimanual Manipulation
SGIT AI Lab, State Grid Corporation of China（国家电网公司SGIT人工智能实验室）；The Hong Kong University of Science and Technology, Guangzhou（香港科技大学（广州））；Baidu Research, Beijing, China（百度研究院）；Zhejiang University of Technology, Hangzhou（浙江工业大学）
SkillVLA: Tackling Combinatorial Diversity in Dual-Arm Manipulation via Skill Reuse
National University of Singapore（国立新加坡大学）；Beijing Zhongguancun Academy（北京中关村学院）；Shanghai Innovation Institute（上海创新研究院）；Shanghai AI Laboratory（上海人工智能实验室）；Shanghai Jiao Tong University（上海交通大学）；Fudan University（复旦大学）；Smart Systems Institute, NUS（NUS智能系统研究所）
MLM: Learning Multi-task Loco-Manipulation Whole-Body Control for Quadruped Robot with Arm
School of Mechanical Engineering, Shanghai Jiao Tong University（上海交通大学机械工程学院）；Shanghai AI Laboratory（上海人工智能实验室）；Lenovo Corporation（联想公司）；Institute of Artificial Intelligence (TeleAI), China Telecom（中国电信人工智能研究院（TeleAI））
VLM-SFD: VLM-Assisted Siamese Flow Diffusion Framework for Dual-Arm Cooperative Manipulation
Department of Computer Science, The University of Manchester（计算机科学系，曼彻斯特大学）；School of Control Science and Engineering, Shandong University（控制科学与工程学院，山东大学）
ObjRetarget: An Object-Aware Motion Retargeting Framework with Anthropomorphic Arm Constraints and Polyhedral Hand Modeling
School of Artificial Intelligence, The Chinese University of Hong Kong, Shenzhen（香港中文大学（深圳）人工智能学院）；School of Computing, University of Portsmouth（朴茨茅斯大学计算学院）
Arm-Constrained Curriculum Learning for Loco-Manipulation of the Wheel-Legged Robot
The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；Institute for AI Industry Research (AIR), Tsinghua University（清华大学人工智能产业研究院）；Tsinghua University（清华大学）；Harbin Institute of Technology（哈尔滨工业大学）；Xi’an Jiaotong-Liverpool University（西交利物浦大学）
BiRoAD: Learning Shared and Role-Adaptive Representations for Bimanual Manipulation
Peking University（北京大学）；PrimeBot Research Institute（PrimeBot研究院）；Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；UC Berkeley（加州大学伯克利分校）
ROBOCYCLE: Autonomous Dual-Arm Robotic Manipulation and Coordination for Recycling Applications
Tecnologico de Monterrey, School of Engineering and Sciences, Department of Computer Science（墨西哥蒙特雷理工大学工程学院与科学学院计算机科学系）；National Institute of Advanced Industrial Science and Technology (AIST)（国家先进工业科学与技术研究院）
Design and Control of a Novel Six-Degree-of-Freedom Hybrid Robotic Arm
Intelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences（北京农林科学院智能装备研究中心）；School of Mechanical Electrical Engineering and Automation, Shanghai University（上海大学机电工程与自动化学院）
AirExo: Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wild
School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University（上海交通大学电子信息与电气工程学院）；School of Mechanical Engineering, Shanghai Jiao Tong University（上海交通大学机械与动力工程学院）；Shanghai Artificial Intelligence Laboratory（上海人工智能实验室）
Competitive Task Allocation with Temporal Proposal Windows and Improved Artificial Potential Fields for Dual-Arm Industrial Manipulation
School of Mechanical and Materials Engineering, IIT Mandi（印度理工大学曼迪分校机械与材料工程学院）；R&D, Addverb Technologies Limited（Addverb科技有限公司研发部）；Centre for Artificial Intelligence and Robotics, IIT Mandi（印度理工大学曼迪分校人工智能与机器人中心）；R&D 4IR, Dubai Electricity & Water Authority（迪拜水电局第四次工业革命研发部）
