Humanoid SRL

What can a humanoid do with a third arm? We integrate a supernumerary robotic limb in two configurations, mounted at the neck or back, to extend the robot’s reach and provide additional support while its native arms are occupied.

Figure 1: Neck- and back-mounted configurations, with hardware demonstrations of support, reaching, coordinated manipulation, and collaborative transport. Figure 1 from the paper.

From feasible motion to hardware

Trajectory optimization provides whole-body motion references. Learn-to-Teach reinforcement learning trains a feedback controller that tracks these references and transfers from simulation to hardware without additional training. The experiments include carrying objects through doors, stabilizing a box stack, and transporting a table with a human partner. Vision-guided diffusion policies extend the controller to selected autonomous tasks.

Publication

Links

• arXiv abstract
• Read the paper (PDF)
• Read the paper (HTML)