6 accepted papers
Recent advancements in visual generation technologies have markedly increased the scale and availability of video datasets, which are crucial for training effective video generation models. However, a significant lack of high-quality, human-centric video datasets presents a challenge to progress in…
Collaborative robots require effective human intention estimation to safely and smoothly work with humans in less structured tasks such as industrial assembly, where human intention continuously changes. We propose the concept of intention tracking and introduce a collaborative robot system that con…
Contact-aware gait trajectory optimization is a challenging non-convex programming problem, especially for complex terrain shapes, where prominent numerical algorithms can fail to find a solution or fall into local minima. To alleviate this issue, we propose an environment warping technique that cha
In this paper, we propose an operational space control formulation for a planar N-link underactuated manipulator (PAN–1)1 with a passive first joint subject to actuator constraints (N ⩾ 3), covering both stabilization and tracking tasks. Such underactuated manipulators have an inherent first-order n…
Most current bipedal robots were modeled with an assumption that there is no slip between the stance foot and ground. This paper relaxes that assumption and undertakes a comprehensive study of a compass gait biped with foot slipping. It is found that slips are most likely to happen near impact for a…
This paper presents an approach to show global controllability of a class of underactuated mechanical systems. This class of systems include gymnastic robots and the classic cart-pole system. For this class of systems, we can define a connection point, and design a damping controller u(t) with the L…