This article presents a method for achieving high-speed running of a quadruped robot by considering the actuator torque–speed operating region in reinforcement learning. The physical properties and constraints of the actuator are included in the training process to reduce state transitions that are infeasible in the real world due to motor torque–speed limitations. The gait … [Read more...] about Reinforcement Learning for High-Speed Quadrupedal Locomotion With Motor Operating Region Constraints: Mitigating Motor Model Discrepancies through Torque Clipping in Realistic Motor Operating Region
Motors
Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context
This article describes RHP Friends, a social humanoid robot developed to enable assistive robotic deployments in human-coexisting environments. As a use case application, we present its potential use in nursing by extending its capabilities to operate devices and tools according to the task and by enabling remote assistance operations. To meet a wide variety of tasks and … [Read more...] about Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context
Design and Control of the Humanoid Robot COMAN+: Hardware Capabilities and Software Implementations
Despite the prevalence of robots operating within controlled environments, such as industries, recent advancements in both autonomy and human–robot interaction have expanded the potential for their use within a diverse range of scenarios. Research efforts in humanoid robotics aim to develop platforms possessing the requisite versatility and dexterity to mimic human motion. This … [Read more...] about Design and Control of the Humanoid Robot COMAN+: Hardware Capabilities and Software Implementations
