7 accepted papers
Transformable robots adapt to various environments by changing their shape or functionality. The robots are able to further expand their task range by replacing their end-effectors (EEs). In this paper, we propose an adaptive-limb transformable robot capable of replacing multiple types of mounted EE
Transformable robots adapt to various environments by changing their shape or functionality. The robots are able to further expand their task range by replacing their end-effectors (EEs). In this paper, we propose an adaptive-limb transformable robot capable of replacing multiple types of mounted EE…
Various methods have been proposed to achieve high output torque and a wide output range for fast and high-load robotic motions. However, in robots composed of slender frames, such as humanoid robots, the limited space available for actuators and transmission components restricts the application of
For trajectory generation of whole-body jumping motions such as humanoid backflips, it is crucial to simultaneously optimize the takeoff, flight, and landing phases while considering full-body dynamics and kinematics. Although such methods have been proposed for standard jumping motions, they have n
Transferring human motion skills to humanoid robots remains a significant challenge. In this study, we introduce a Wasserstein adversarial imitation learning system, allowing humanoid robots to replicate natural whole-body locomotion patterns and execute seamless transitions by mimicking human motio…
For humanoid whole body contact motions, it is important to recognize the existence of whole body contacts and the contact forces. The challenges in recognizing the existence of whole body contacts and the contact forces in life-size humanoids are: 1) the measurement part with low mechanical strengt…
Humanoids operate in repeated contact and non-contact with their environment and so the motion of humanoids such as walking on uneven terrain or in a narrow space requires the accurate force and position control. Joint torque control systems are suitable for position and force control, but are prone…