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Motion capture is a good source of data for programming humanoid robots because it contains the natural styles and synergies of human behaviors. However, it is difficult to directly use captured motion data because the kinematics and dynamics of humanoid robots differ significantly from those of humans. In our previous work, we developed a controller that allows a robot to maintain balance while tracking...
We are interested in performing dynamic tasks with humanoid robots. Using a model-based controller to perform these tasks can expose modeling errors that are not apparent when performing slower or less difficult tasks. To successfully perform a dynamic task with the Sarcos Primus humanoid, we augmented a model-based policy-mixing controller with automated model adaptation techniques. We conducted...
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