In this review, we explore how teleoperation could potentially be applied to the management
of humanoid robots, with an emphasis on humanoid robots that are used in assistive roles …

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 …

Can we enable humanoid robots to generate rich, diverse, and expressive motions in the
real world? We propose to learn a whole-body control policy on a human-sized robot to …

We present an approach for kinesthetic teaching of motion primitives for a humanoid robot.
The proposed teaching method starts with observational learning and applies iterative …

In this paper we present and evaluate a novel method for tele-operating a humanoid robot
via a full body motion capture suit. Our method does not use any a priori analytical or …

This paper deals with the imitation of human motions by a humanoid robot based on marker
point measurements from a 3D motion capture system. For imitating the humanpsilas …

This chapter presents an overview of learning approaches for the acquisition of controllers
and movement skills in humanoid robots. The term learning control refers to the process of …

In this paper we aim at extending imitation learning to physical human—robot interaction
(pHRI) including contact transitions (from non-contact to contact and vice versa). For …

We aim to develop an efficient programming method for equipping service robots with the
skill of performing sign language motions. This paper addresses the problem of transferring …

When robots are controlled in the task space, singularities and joint limits are among the
most critical and difficult issues that can arise. In this paper, we propose a new approach for …