Topic 04 of 17

Humanoids & locomotion in robotics

Humanoid robotics covers whole-body control for human-shaped machines: staying balanced on two legs, walking on unmodelled terrain, and using the whole body, arms included, to manipulate while moving. Reinforcement learning in simulation followed by sim-to-real transfer has replaced hand-designed controllers for most recent systems.

arXiv query: cat:cs.RO AND (abs:"humanoid" OR abs:"legged locomotion" OR abs:"whole-body control")