Humanoid robots have great potential to perform various human-level skills. These skills
involve locomotion, manipulation, and cognitive capabilities. Driven by advances in machine …

Legged robots are designed to perform highly dynamic motions. However, it remains
challenging for users to retarget expressive motions onto these complex systems. In this …

Humanoid robots could benefit from using their upper bodies for support contacts,
enhancing their workspace, stability, and ability to perform contact-rich and pushing tasks. In …

This paper presents Words2Contact, a language-guided multi-contact placement pipeline
leveraging large language models and vision language models. Our method is a key …

This work develops a data-efficient learning from demonstration framework which exploits
the use of rich tactile sensing and achieves fine dexterous bimanual manipulation …

Abstract Purpose of Review The ability to autonomously manipulate the physical world is the
key capability needed to fulfill the potential of cognitive robots. Humanoid robots, which offer …

Many humanoid and multi-legged robots are controlled in positions rather than in torques,
which prevents direct control of contact forces, and hampers their ability to create multiple …

This article presents a robust and reliable human–robot collaboration (HRC) framework for
bimanual manipulation. We propose an optimal motion adaptation method to retarget …

Logistics and service operations involving parcel preparation, delivery, and unpacking from
a supply point to a user's home could be carried out completely by robots in the near future …

Humanoid activities involving sequential contacts are crucial for complex robotic interactions
and operations in the real world and are traditionally solved by model-based motion …