The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors

19 April 2021

Donghyun Kim

Papers citing "The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors"

50 / 73 papers shown

Title
Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study Dongyun Kang Gijeong Kim JongHun Choe Hajun Kim Hae-Won Park 26 1 0 18 May 2025
Let Humanoids Hike! Integrative Skill Development on Complex Trails Kwan-Yee Lin Stella X.Yu 37 0 0 09 May 2025
Deformable Multibody Modeling for Model Predictive Control in Legged Locomotion with Embodied Compliance Keran Ye Konstantinos Karydis 42 0 0 28 Apr 2025
Teacher Motion Priors: Enhancing Robot Locomotion over Challenging Terrain Fangcheng Jin Yuqi Wang Peixin Ma Guodong Yang Pan Zhao En Li Zhengtao Zhang 41 0 0 14 Apr 2025
HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion Sixu Lin Guanren Qiao Yunxin Tai Ang Li Kui Jia Guiliang Liu 41 0 0 02 Mar 2025
A Large Recurrent Action Model: xLSTM enables Fast Inference for Robotics Tasks Thomas Schmied Thomas Adler Vihang Patil M. Beck Korbinian Poppel Johannes Brandstetter Günter Klambauer Razvan Pascanu Sepp Hochreiter 82 5 0 21 Feb 2025
Learning Getting-Up Policies for Real-World Humanoid Robots Xialin He Runpei Dong Zixuan Chen Saurabh Gupta 77 5 0 17 Feb 2025
Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions Ziwen Zhuang Hang Zhao 51 6 0 03 Feb 2025
ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation Haochen Shi Weizhuo Wang Shuran Song Chenxi Liu 53 3 0 02 Feb 2025
A 3-Step Optimization Framework with Hybrid Models for a Humanoid Robot's Jump Motion Haoxiang Qi Zhangguo Yu Xuechao Chen Yaliang Liu Chuanku Yi Chencheng Dong Fei Meng Qiang Huang 78 0 0 22 Jan 2025
URDF+: An Enhanced URDF for Robots with Kinematic Loops Matthew Chignoli Jean-Jacques E. Slotine Patrick M. Wensing Sangbae Kim AI4CE 73 1 0 29 Nov 2024
HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots Tairan He Wenli Xiao Toru Lin Zhengyi Luo Zhenjia Xu ... Changliu Liu Guanya Shi Xiaolong Wang Linxi Fan Yuke Zhu 48 23 0 28 Oct 2024
Design and Evaluation of a Compliant Quasi Direct Drive End-effector for Safe Robotic Ultrasound Imaging Danyi Chen Ravi Prakash Zacharias Chen Sarah Dias Vincent Wang Leila Bridgeman Siobhan Oca 24 0 0 04 Oct 2024
Bi-Level Motion Imitation for Humanoid Robots Wenshuai Zhao Yi Zhao Joni Pajarinen Michael Muehlebach 44 1 0 02 Oct 2024
Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Models Qi Wu Zipeng Fu Xuxin Cheng Xiaolong Wang Chelsea Finn LM&Ro 41 9 0 30 Sep 2024
Automatic Gain Tuning for Humanoid Robots Walking Architectures Using Gradient-Free Optimization Techniques Carlotta Sartore Marco Rando Giulio Romualdi C. Molinari Lorenzo Rosasco Daniele Pucci 37 0 0 27 Sep 2024
Angular Divergent Component of Motion: A step towards planning Spatial DCM Objectives for Legged Robots Connor W. Herron Robert Schuller Benjamin C. Beiter Robert J. Griffin Alexander Leonessa Johannes Englsberger 22 1 0 19 Sep 2024
Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots Zixin Zhang John Z. Zhang Shuo Yang Zachary Manchester 31 2 0 16 Sep 2024
FSL-LVLM: Friction-Aware Safety Locomotion using Large Vision Language Model in Wheeled Robots Bo Peng D. Baek Qijie Wang Joao Ramos 33 0 0 15 Sep 2024
Physically-Consistent Parameter Identification of Robots in Contact Shahram Khorshidi Murad Dawood Benno Nederkorn Maren Bennewitz Majid Khadiv 40 1 0 15 Sep 2024
Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning Xinyang Gu Yen-Jen Wang Xiang Zhu Chengming Shi Yanjiang Guo Yichen Liu Jianyu Chen 41 36 0 26 Aug 2024
Probabilistic Homotopy Optimization for Dynamic Motion Planning Shayan Pardis Matthew Chignoli Sangbae Kim 43 0 0 22 Aug 2024
Berkeley Humanoid: A Research Platform for Learning-based Control Qiayuan Liao Bike Zhang Xuanyu Huang Xiaoyu Huang Zhongyu Li Koushil Sreenath 45 23 0 31 Jul 2024
A Biomechanics-Inspired Approach to Soccer Kicking for Humanoid Robots Daniel Marew Nisal Perera Shangqun Yu Sarah Roelker Donghyun Kim 40 4 0 19 Jul 2024
Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI Yang Liu Weixing Chen Yongjie Bai Xiaodan Liang Guanbin Li Wen Gao Liang Lin LM&Ro SyDa AI4CE 56 52 0 09 Jul 2024
HumanPlus: Humanoid Shadowing and Imitation from Humans Zipeng Fu Qingqing Zhao Qi Wu Gordon Wetzstein Chelsea Finn SyDa 42 90 0 15 Jun 2024
WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts Chong Zhang Wenli Xiao Tairan He Guanya Shi 44 40 0 10 Jun 2024
A Survey of Language-Based Communication in Robotics William Hunt Sarvapali D. Ramchurn Mohammad D. Soorati LM&Ro 70 12 0 06 Jun 2024
Learning-based legged locomotion; state of the art and future perspectives Sehoon Ha Joonho Lee M. van de Panne Zhaoming Xie Wenhao Yu Majid Khadiv 47 17 0 03 Jun 2024
Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains Shangqun Yu Nisal Perera Daniel Marew Donghyun Kim 37 3 0 27 May 2024
CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping Zhicheng He Jiayang Wu Jingwen Zhang Shibowen Zhang Yapeng Shi Hangxin Liu Lining Sun Yao Su Xiaokun Leng 51 10 0 20 May 2024
StaccaToe: A Single-Leg Robot that Mimics the Human Leg and Toe Nisal Perera Shangqun Yu Daniel Marew Mack Tang Ken Suzuki Aidan McCormack Shifan Zhu Yong-Jae Kim Donghyun Kim 37 1 0 07 Apr 2024
Humanoid Locomotion as Next Token Prediction Ilija Radosavovic Bike Zhang Baifeng Shi Jathushan Rajasegaran Sarthak Kamat Trevor Darrell Koushil Sreenath Jitendra Malik LM&Ro 33 60 0 29 Feb 2024
Expressive Whole-Body Control for Humanoid Robots Xuxin Cheng Yandong Ji Junming Chen Ruihan Yang Ge Yang Xiaolong Wang 58 90 0 26 Feb 2024
FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning Chenhao Li Elijah Stanger-Jones Steve Heim Sangbae Kim 50 10 0 21 Feb 2024
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth Koushil Sreenath 38 77 0 30 Jan 2024
Actuator-Constrained Reinforcement Learning for High-Speed Quadrupedal Locomotion Young-Ha Shin Tae-Gyu Song Gwanghyeon Ji Hae-Won Park 35 4 0 29 Dec 2023
Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research Junheng Li Junchao Ma Omar Kolt Manas Shah Quan Nguyen 48 15 0 19 Dec 2023
Centroidal State Estimation and Control for Hardware-constrained Humanoid Robots Grzegorz Ficht Sven Behnke 34 2 0 18 Dec 2023
Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis Yafei Hu Quanting Xie Vidhi Jain Jonathan M Francis Jay Patrikar ... Xiaolong Wang Sebastian A. Scherer Z. Kira Fei Xia Yonatan Bisk LM&Ro AI4CE 52 65 0 14 Dec 2023
Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal M. Asselmeier Jane Ivanova Ziyi Zhou Patricio A. Vela Ye Zhao 29 4 0 14 Nov 2023
Reinforcement Learning for Reduced-order Models of Legged Robots Yu-Ming Chen Hien Bui Michael Posa 41 7 0 15 Oct 2023
HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation Annan Tang Takuma Hiraoka Naoki Hiraoka Fan Shi Kento Kawaharazuka Kunio Kojima K. Okada Masayuki Inaba 31 26 0 25 Sep 2023
Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control Yi Wang Ji-Min Kang Zhiheng Chen Xiaobin Xiong 15 6 0 24 Sep 2023
Evolutionary-Based Online Motion Planning Framework for Quadruped Robot Jumping Linzhu Yue Zhitao Song Hongbo Zhang Xuanqi Zeng Lingwei Zhang Yunhui Liu 19 1 0 14 Sep 2023
Proprioceptive External Torque Learning for Floating Base Robot and its Applications to Humanoid Locomotion Daegyu Lim Myeong-Ju Kim Junhyeok Cha Donghyeon Kim Jaeheung Park 11 2 0 08 Sep 2023
Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics Adrian B. Ghansah Jeeseop Kim Maegan Tucker Aaron D. Ames 18 5 0 21 Aug 2023
A Novel Lockable Spring-loaded Prismatic Spine to Support Agile Quadrupedal Locomotion Keran Ye Kenneth Chung Konstantinos Karydis 22 2 0 02 Aug 2023
Control- & Task-Aware Optimal Design of Actuation System for Legged Robots using Binary Integer Linear Programming Youngwoo Sim Guillermo Colin Joao Ramos 36 0 0 21 Jul 2023
Benchmarking Potential Based Rewards for Learning Humanoid Locomotion Seungmin Jeon Steve Heim Charles Khazoom Sangbae Kim OffRL 35 22 0 19 Jul 2023