5 accepted papers
Learning-based methods have enabled robots to acquire bio-inspired movements with increasing levels of naturalness and adaptability. Among these, Imitation Learning (IL) has proven effective in transferring complex motion patterns from animals to robotic systems. However, current state-of-the-art fr…
In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently, co-design methods have gained popularity, where bi-level formulations are used to simultaneously optimize the robot desi
Trajectory optimization methods have become ubiquitous for the motion planning and control of underactuated robots for e.g., quadrupeds, humanoids etc. While they have been extensively used in the case of serial or tree type robots, they are seldomly used for planning and control of robots with clos…
It is well established that a stiff structure along with an optimal mass distribution are key features to perform dynamic movements, and parallel designs provide these characteristics to a robot. This work presents the new upper-body design of the humanoid robot RH5 named RH5 Manus with series-paral…
Musical dancing is an ubiquitous phenomenon in the human society. Providing robots the ability to dance has the potential to make the human robot co-existence more acceptable in our society. Hence, dancing robots have generated a considerable research interest in the recent years. In this paper, we…