7 accepted papers
This study explores the feasibility of using simulations as a better interface to collect human object manipulation skills for learning from demonstrations (LfD). Recently, numerous researchers have started introducing teleoperation systems to acquire human manipulation skills. However, capturing th…
The estimation of external joint torque and contact wrench is essential for achieving stable locomotion of humanoids and safety-oriented robots. Although the contact wrench on the foot of humanoids can be measured using a force-torque sensor (FTS), FTS increases the cost, inertia, complexity, and fa…
In this letter, we review the question of which action space is best suited for controlling a real biped robot in combination with Sim2Real training. Position control has been popular as it has been shown to be more sample efficient and intuitive to combine with other planning algorithms. However, f
"Over the years, 2D GANs have achieved great successes in photorealistic portrait generation. However, they lack 3D understanding in the generation process, thus they suffer from multi-view inconsistency problem. To alleviate the issue, many 3D-aware GANs have been proposed and shown notable results…
Stable contact and safe responses to the collision have been studied to develop interactive robots such as service and collaborative robots. Stable and safe interactions are usually achieved through the inherent compliance of a motion controller with external torque estimation. However, a fixed cont…
As robots begin to collaborate with people in real life, safety needs to be rigorously ensured to reliably employ robots nearby. In addition to collision prevention algorithms, studies are being actively conducted on collision handling methods. Momentum Observer (MOB) was developed to estimate distu…
Torque controlled robots have the capability of implementing compliant behavior with back-drivability. In practice, however, joint elasticity often prevents an accurate position tracking performance of a robot. In particular, humanoid robots are influenced more by elasticity because of a long kinema…