We introduce a new, analytical method for generating whole-body motions for humanoid robots, which approximate the desired Composite Rigid Body (CRB) inertia. Our approach uses a reduced five mass model, where four of the masses are attributed to the limbs and one is used for the trunk. This compact formulation allows for finding an analytical solution that combines the kinematics with mass distribution and inertial properties of a humanoid robot. The positioning of the masses in Cartesian space is then directly used to obtain joint angles with relations based on simple geometry. Motions are achieved through the time evolution of poses generated through the desired foot positioning and CRB inertia properties. As a result, we achieve short computation times in the order of tens of microseconds. This makes the method suited for applications with limited computation resources, or leaving them to be spent on higher-layer tasks such as model predictive control. The approach is evaluated by performing a dynamic kicking motion with an igus Humanoid Open Platform robot.
Istituto Italiano di Tecnologia（意大利理工学院）；University of Genova（热那亚大学）；The University of Manchester（曼彻斯特大学）
Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for teleoperation of humanoid robots using a novel approach for motion retargeting through inverse kinematics over the robot model. The proposed method enhances scalability for retargeting, i.e., it allows teleoperating different robots by different human users with minimal changes to the proposed system. Our framework enables an intuitive and natural interaction between the human operato…
University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body control is a promising hands-free strategy to command humanoids but demands more physical and mental effort. To mitigate this limitation, researchers have proposed shared-control methods incorporating robot decision-making to aid humans on low-level tasks, further reducing operation effort. However, shared-control methods for wheeled humanoid telelocomotion on a whole-body level has yet to be explored. In this work, we…
SMAP: Self-supervised Motion Adaptation for Physically Plausible Humanoid Whole-body Control
School of Computer Science, Wuhan University（武汉大学计算机学院）；Shanghai Artificial Intelligence Laboratory（上海人工智能实验室）；Harbin Institute of Technology (Shenzhen)（哈尔滨工业大学（深圳））；The Chinese University of Hong Kong（香港中文大学）；Fudan University（复旦大学）；National University of Singapore（新加坡国立大学）
Rhythm: Learning Interactive Whole-Body Control for Dual Humanoids
Fudan University（复旦大学）；TARS Robotics（TARS机器人）；Tsinghua University（清华大学）；Shanghai Jiao Tong University（上海交通大学）；Shanghai Innovation Institute（上海创新研究院）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）
HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control
Institute of Artificial Intelligence (TeleAI), China Telecom（人工智能研究院（TeleAI），中国电信）；The University of Hong Kong（香港大学）；University of Science and Technology of China（中国科学技术大学）；ShanghaiTech University（上海科技大学）
Experimental Comparison of Whole-Body Control Formulations for Humanoid Robots in Task Acceleration and Task Force Spaces
Automation and Control Inst. (ACIN), TU Wien（自动化与控制研究所（ACIN），维也纳技术大学）；Institute of Robotics and Mechatronics, German Aerospace Center (DLR)（机器人与机电研究所，德国航空航天中心（DLR））
University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；Carnegie Mellon University（卡内基梅隆大学）
Bilateral teleoperation provides humanoid robots with human planning intelligence while enabling the human to feel what the robot feels. It has the potential to transform physically capable humanoid robots into dynamically intelligent ones. However, dynamic bilateral locomotion teleoperation remains as a challenge due to the complex dynamics it involves. This work presents our initial step to tackle this challenge via the concept of wheeled humanoid robot locomotion teleoperation by body tilt. Specifically, we developed a force-feedback-capable whole-body human-machine interface (HMI), and des…
Hierarchical Learning Framework for Whole-Body Model Predictive Control of a Real Humanoid Robot
ATR Computational Neuroscience Laboratories（ATR计算神经科学实验室）；NTT Communication Science Laboratories, Nippon Telegraph and Telephone Co.（日本电报电话公司NTT通信科学实验室）；Graduate School of Informatics, Kyoto University（京都大学情报学研究科）
This paper presents a multi-contact approach to generalized humanoid fall mitigation planning that unifies inertial shaping, protective stepping, and hand contact strategies. The planner optimizes both the contact sequence and the robot state trajectories. A high-level tree search is conducted to iteratively grow a contact transition tree. At each edge of the tree, trajectory optimization is used to calculate robot stabilization trajectories that produce the desired contact transition while minimizing kinetic energy. Also, at each node of the tree, the optimizer attempts to find a self-motion …
ViLoMan: Learning Visual-Proprioceptive Whole-Body Loco-Manipulation Skills for Humanoid Robots
State Key Laboratory of AI Safety, Institute of Computing Technology, CAS（中国科学院计算技术研究所人工智能安全国家重点实验室）；University of Chinese Academy of Sciences (CAS)（中国科学院大学）；Beijing Academy of Artificial Intelligence (BAAI)（北京智源人工智能研究院）
HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion
The Chinese University of Hong Kong (Shenzhen)（香港中文大学（深圳））；Harbin Institute of Technology（哈尔滨工业大学）；DexForce Technology（DexForce科技）；Southeast University（东南大学）
Italian Institute of Technology（意大利技术研究院）；University of Manchester（曼彻斯特大学）；University of Genoa（热那亚大学）
The paper presents a planner to generate walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot. The interaction between the robot and the walking surface is modeled explicitly via new conditions, the \emph{Dynamical Complementarity Constraints}. The approach does not require a predefined contact sequence and generates the footsteps automatically. We characterize the robot control objective via a set of tasks, and we address it by solving an optimal control problem. We show that it is possible to achieve walking motions automatically by specifying a m…
Italian Institute of Technology（意大利理工学院）；University of Genoa（热那亚大学）；University of Waterloo（滑铁卢大学）
This paper presents a contact-aided inertial-kinematic floating base estimation for humanoid robots considering an evolution of the state and observations over matrix Lie groups. This is achieved through the application of a geometrically meaningful estimator which is characterized by concentrated Gaussian distributions. The configuration of a floating base system like a humanoid robot usually requires the knowledge of an additional six degrees of freedom which describes its base position-and-orientation. This quantity usually cannot be measured and needs to be estimated. A matrix Lie group, e…
Fondazione Istituto Italiano di Tecnologia（意大利技术研究院基金会）；Università di Genova（热那亚大学）
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines cannot achieve a constant forward body movement without exploiting contacts with the environment. The reactive forces resulting from the contacts are subject to strong limitations, complicating the design of control laws. As a consequence, the generation of humanoid motions requires to exploit fully the mathematical model of the robot in contact with the envir…
University of Texas at Austin（德克萨斯大学奥斯汀分校）；Stanford University（斯坦福大学）
Whole-body control (WBC) is a generic task-oriented control method for feedback control of loco-manipulation behaviors in humanoid robots. The combination of WBC and model-based walking controllers has been widely utilized in various humanoid robots. However, to date, the WBC method has not been employed for unsupported passive-ankle dynamic locomotion. As such, in this paper, we devise a new WBC, dubbed whole-body locomotion controller (WBLC), that can achieve experimental dynamic walking on unsupported passive-ankle biped robots. A key aspect of WBLC is the relaxation of contact constraints …
Dynamic Whole-Body Dancing with Humanoid Robots -- A Model-Based Control Approach
University of Science and Technology of China（中国科学技术大学）；Tsinghua University（清华大学）；Beijing Institute for General Artificial Intelligence (BIGAI)（北京通用人工智能研究院）；Xidian University（西安电子科技大学）；Harbin Institute of Technology（哈尔滨工业大学）
A Survey of Behavior Foundation Model: Next-Generation Whole-Body Control System of Humanoid Robots
Department of Computing, The Hong Kong Polytechnic University（香港理工大学计算机系）；LimX Dynamics；Ningbo Institute of Digital Twin, Eastern Institute of Technology（宁波数字孪生研究院、东部技术研究所）；Department of Data and Systems Engineering, The University of Hong Kong（香港大学数据与系统工程系）；CREATE Lab, EPFL（EPFL CREATE 实验室）；School of System Design and Intelligent Manufacturing, Southern University of Science and Technology（南方科技大学系统设计与智能制造学院）；ZJU-UIUC Institute, Zhejiang University（浙江大学ZJU-UIUC研究院）；INFIFORCE Intelligent Technology Co., Ltd.（INFIFORCE智能科技有限公司）
Bionic Human-Motion Style Transfer for Physically Executable Whole-Body Control of 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）；School of Computer Science and Technology, Faculty of Electronic and Information Engineering, Xi’an Jiaotong University（计算机科学与技术学院，电子与信息工程学院，西安交通大学）；School of Information Science and Engineering, Lanzhou University（信息科学与工程学院，兰州大学）
KungfuBot2: Learning Versatile Motion Skills for Humanoid Whole-Body Control
Institute of Artificial Intelligence (TeleAI), China Telecom（人工智能研究院（TeleAI），中国电信）；Shanghai Jiao Tong University（上海交通大学）；East China University of Science and Technology（东华大学）
Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning
Institute of Artificial Intelligence (TeleAI), China Telecom（人工智能研究院（TeleAI），中国电信）；ShanghaiTech University（上海科技大学）；University of Science and Technology of China（中国科学技术大学）；Northwestern Polytechnical University（西北工业大学）；Tsinghua University（清华大学）
DFKI GmbH（德国人工智能研究中心）；University of Edinburgh（爱丁堡大学）；Alan Turing Institute（艾伦·图灵研究所）；LAAS-CNRS（法国国家科学研究中心系统分析与架构实验室）
Last decades of humanoid research has shown that humanoids developed for high dynamic performance require a stiff structure and optimal distribution of mass--inertial properties. Humanoid robots built with a purely tree type architecture tend to be bulky and usually suffer from velocity and force/torque limitations. This paper presents a novel series-parallel hybrid humanoid called RH5 which is 2 m tall and weighs only 62.5 kg capable of performing heavy-duty dynamic tasks with 5 kg payloads in each hand. The analysis and control of this humanoid is performed with whole-body trajectory optimiz…
