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）
Mehdi Benallegue, Rafael Cisneros, Abdelaziz Benallegue, Yacine Chitour, Mitsuharu Morisawa, Fumio Kanehiro
In this paper, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude estimation, which requires to know the velocity of the system. This velocity can be obtained by taking into account the kinematic data provided by contact information with the environment and using the IMU and joint encoders. We demonstrate how this operation can be used in the case of a fixed or a moving contact, allowing it to be employed for locomotion. We show how to use this velocity estimation within a selected two-stage state tilt estimator: (i) the first which has a global and quick convergence (ii) and the second which has smooth and robust dynamics. We provide new specific proofs of almost global Lyapunov asymptotic stability and local exponential convergence for this observer. Finally, we assess its performance by employing a comparative simulation and by using it within a closed-loop stabilization scheme for HRP-5P and HRP-2KAI robots performing whole-body kinematic tasks and locomotion.
Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds
Department of Mechanical and Civil Engineering, California Institute of Technology（机械与土木工程系，加州理工学院）；Department of Computing and Mathematical Sciences, California Institute of Technology（计算与数学科学系，加州理工学院）
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））
Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM
University of Tsukuba（筑波大学）；Universite de Picardie Jules Verne（皮卡第儒勒·凡尔纳大学）；National Institute of Advanced Industrial Science and Technology (AIST)（日本产业技术综合研究所）
UniTracker: Learning Universal Whole-Body Motion Tracker for Humanoid Robots
Shanghai Jiao Tong Univeristy（上海交通大学）；Shanghai Artificial Intelligence Laboratory（上海人工智能实验室）；Shanghai Innovation Institute（上海创新研究院）；Peking University（北京大学）；Zhejiang University（浙江大学）；Fudan University（复旦大学）；The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州））；ShanghaiTech University（上海科技大学）
Jerk Control of Floating Base Systems with Contact-Stable Parametrised Force Feedback
Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）；Dynamic Interaction Control, Istituto Italiano di Tecnologia（意大利理工学院动态交互控制实验室）；DIBRIS, University of Genova（热那亚大学 DIBRIS）
Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots
Artificial and Mechanical Intelligence (AMI), Istituto Italiano di Tecnologia (IIT)（人工智能与机械智能（AMI），意大利技术研究院（IIT））；Dynamic Legged Systems (DLS), Istituto Italiano di Tecnologia (IIT)（动态腿部系统（DLS），意大利技术研究院（IIT））；Frontier Robotics, Innovative Research Excellence（前沿机器人，创新研究卓越；本田研发，日本埼玉）；Honda R&D, Saitama, Japan（机器学习与优化，曼彻斯特大学）；Machine Learning and Optimisation, The University of Manchester
Let the Dynamics Flow: Stable Flow Matching Dynamical Systems
Department of Robotics, Perception, and Learning, KTH Royal Institute of Technology（机器人、感知与学习系，皇家理工学院）；Advanced Mining Technology Center (AMTC) and Department of Electrical Engineering, Universidad de Chile（先进采矿技术中心（AMTC）和电气工程系，智利大学）；Bosch Center for Artificial Intelligence, Renningen, Germany（博世人工智能中心，德国Renningen）；Italian Institute of Artificial Intelligence (AI4I), Turin, Italy（意大利人工智能研究所（AI4I），意大利都灵）
Scalable and Efficient Continual Learning from Demonstration via a Hypernetwork-generated Stable Dynamics Model
Faculty of Electrical Engineering and Computer Science, Technical University of Berlin（电气工程与计算机科学系，柏林技术大学）；Department of Computer Science, University of Innsbruck（计算机科学系，因斯布鲁克大学）；Digital Science Center (DiSC), University of Innsbruck（数字科学中心（DiSC），因斯布鲁克大学）；Department of Industrial Engineering, University of Trento（工业工程系，特伦托大学）；Singular Research Center on Intelligent Systems (CiTIUS), University of Santiago de Compostela（智能系统研究中心（CiTIUS），圣地亚哥-德孔波斯特拉大学）
