Real-time full body motion imitation on the COMAN humanoid robot

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Human-Robot Interfaces (HRIs) represent a crucial component in telerobotic systems. Body-Machine Interfaces (BoMIs) based on body motion can feel more intuitive than standard HRIs for naive users as they leverage humans’ natural control capability over the ...

Grasping and manipulation are challenging tasks that are nonetheless critical for many robotic systems and applications. A century ago, robots were conceived as humanoid automata. While conceptual at the time, this viewpoint remains influential today. Many ...

In this paper, we propose a framework to build a memory of motion for warm-starting an optimal control solver for the locomotion task of a humanoid robot. We use HPP Loco3D, a versatile locomotion planner, to generate offline a set of dynamically consisten ...

We report on a follow-up study of the Co-Writer project at EPFL [1]; we confirm their findings, extend the applicability to another language with a different alphabet (Greek) and go into an in-depth qualitative study of the child-robot relationship. The co ...

In this paper, we present an integrated approach that provides compliant control of an iCub humanoid robot and adaptive reaching, grasping, navigating and co-manipulating capabilities. We use state-dependent dynamical systems (DS) to (i) coordinate and dri ...

Humanoid robots, with a focus on personalised social behaviours, are increasingly being deployed in educational settings to support learning. However, crafting pedagogical HRI designs and robot interventions that have a real, positive impact on participant ...

Bio-inspired robotic designs introducing and benefiting from morphological aspects present in animals allowed the generation of fast, robust, and energy-efficient locomotion. We used engineering tools and interdisciplinary knowledge transferred from biolog ...

In nature, climbing trees and pipes of varying diameters or even navigating inside of hollow pipes and tree holes is easy for some climbing animals and insects. However, today's pipe-climbing robots, which are important for automatically conducting periodi ...

In this letter, we show that soft robotic hands provide a robust means of performing basic primitives of in-hand manipulation in the presence of uncertainty. We first discuss the design of a prototype hand with dexterous soft fingers capable of moving obje ...

Despite the growing interest in brain-machine interface (BMI)-driven neuroprostheses, the translation of the BMI output into a suitable control signal for the robotic device is often neglected. In this article, we propose a novel control approach based on ...

Real-time full body motion imitation on the COMAN humanoid robot

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Does spontaneous motion lead to intuitive Body-Machine Interfaces? A fitness study of different body segments for wearable telerobotics

Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers

Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion

Learning (Good Handwriting In Greek) By Teaching (A Humanoid Robot)

A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots

When Positive Perception of the Robot Has No Effect on Learning

Towards rich motion skills with the lightweight quadruped robot Serval

Multimodal pipe-climbing robot with origami clutches and soft modular legs

A Dexterous Soft Robotic Hand for Delicate In-Hand Manipulation

The Role of the Control Framework for Continuous Teleoperation of a Brain-Machine Interface-Driven Mobile Robot