Humanmimic: Learning natural locomotion and transitions for humanoid robot via wasserstein adversarial imitation
Transferring human motion skills to humanoid robots remains a significant challenge. In this
study, we introduce a Wasserstein adversarial imitation learning system, allowing humanoid …
study, we introduce a Wasserstein adversarial imitation learning system, allowing humanoid …
Robust humanoid locomotion via sequential step** and angular momentum optimization
Step** strategy, including step time and step location modulation, and hip strategy, ie,
upper-body movement, play crucial roles in achieving robust humanoid locomotion …
upper-body movement, play crucial roles in achieving robust humanoid locomotion …
Seamless reaction strategy for bipedal locomotion exploiting real-time nonlinear model predictive control
This paper presents a reactive locomotion method for bipedal robots enhancing robustness
and external distur-bance rejection performance by seamlessly rendering several walking …
and external distur-bance rejection performance by seamlessly rendering several walking …
Whole-Body Torque Control Without Joint Position Control Using Vibration-Suppressed Friction Compensation for Bipedal Locomotion of Gear-Driven Torque …
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 …
motion of humanoids such as walking on uneven terrain or in a narrow space requires the …
Humanoid Walking System with CNN-Based Uneven Terrain Recognition and Landing Control with Swing-Leg Velocity Constraints
In order for a humanoid robot to traverse uneven terrain without falling over, the robot must
control its landing position appropriately. To determine the landing position, there are two …
control its landing position appropriately. To determine the landing position, there are two …
Lightweight Design and Property Analysis of Humanoid Robot Thigh Integrated Structure with Appearance
D Nie, J Gu, Y Zhang, H Jiang - International Conference on Intelligent …, 2023 - Springer
The lightweight and high stiffness leg structure of humanoid robots can effectively reduce
rotational inertia and energy consumption, improving the robot's ability to quickly switch …
rotational inertia and energy consumption, improving the robot's ability to quickly switch …