In this letter, we propose an efficient and highly versatile loco-manipulation planning for
humanoid robots. Loco-manipulation planning is a key technological brick enabling …

We propose a locomotion framework for bipedal robots consisting of a new motion planning
method, dubbed trajectory optimization for walking robots plus (TOWR+), and a new whole …

We tackle the problem of developing humanoid loco-manipulation skills with deep imitation
learning. The difficulty of collecting task demonstrations and training policies for humanoids …

This study focuses on a layered, experience-based, multi-modal contact planning framework
for agile quadrupedal locomotion over a constrained rebar environment. To this end, our …

Grasping and manipulating various kinds of objects cooperatively is the core skill of a dual-
arm robot when deployed as an autonomous agent in a human-centered environment. This …

Loco-manipulation calls for effective whole-body control and contact-rich interactions with
the object and the environment. Existing learning-based control frameworks rely on task …

In this work, we propose a trajectory generation method for robotic systems with contact
kinematics and force constraints based on optimal control and reachability analysis tools …

In legged locomotion, the relationship between different gait behaviors and energy
consumption must consider the full-body dynamics and the robot control as a whole, which …

In this paper we focus on the evaluation of humanoid manipulation skills while balancing on
two feet. This involves manipulation while standing and loco-manipulation where the object …

While the area of whole-body controllers for humanoids have matured in recent years,
deploying humanoid robots in human environments remains a challenge. One difficulty …