Video Friday: Robot Dog Handstand

Video Friday is your weekly selection of awesome robotics videos, collected by your friends at IEEE Spectrum robotics. We also post a weekly calendar of upcoming robotics events for the next few months. Please send us your events for inclusion.

Humanoids 2024: 22-24 November 2024, NANCY, FRANCE

Enjoy today's videos!

Just when I thought quadrupeds couldn't impress me anymore...

[ Unitree Robotics ]

Researchers at Meta FAIR are releasing several new research artifacts that advance robotics and support our goal of reaching advanced machine intelligence (AMI). These include Meta Sparsh, the first general-purpose encoder for vision-based tactile sensing that works across many tactile sensors and many tasks; Meta Digit 360, an artificial fingertip-based tactile sensor that delivers detailed touch data with human-level precision and touch-sensing; and Meta Digit Plexus, a standardized platform for robotic sensor connections and interactions that enables seamless data collection, control and analysis over a single cable.

[ Meta ]

The first bimanual Torso created at Clone includes an actuated elbow, cervical spine (neck), and anthropomorphic shoulders with the sternoclavicular, acromioclavicular, scapulothoracic and glenohumeral joints. The valve matrix fits compactly inside the ribcage. Bimanual manipulation training is in progress.

[ Clone Inc. ]

Equipped with a new behavior architecture, Nadia navigates and traverses many types of doors autonomously. Nadia also demonstrates robustness to failed grasps and door opening attempts by automatically retrying and continuing. We present the robot with pull and push doors, four types of opening mechanisms, and even spring-loaded door closers. A deep neural network and door plane estimator allow Nadia to identify and track the doors.

[ Paper preprint by authors from Florida Institute for Human and Machine Cognition ]

Thanks, Duncan!

In this study, we integrate the musculoskeletal humanoid Musashi with the wire-driven robot CubiX, capable of connecting to the environment, to form CubiXMusashi. This combination addresses the shortcomings of traditional musculoskeletal humanoids and enables movements beyond the capabilities of other humanoids. CubiXMusashi connects to the environment with wires and drives by winding them, successfully achieving movements such as pull-up, rising from a lying pose, and mid-air kicking, which are difficult for Musashi alone.

[ CubiXMusashi, JSK Robotics Laboratory, University of Tokyo ]

Thanks, Shintaro!

An old boardwalk seems like a nightmare for any robot with flat feet.

[ Agility Robotics ]

This paper presents a novel learning-based control framework that uses keyframing to incorporate high-level objectives in natural locomotion for legged robots. These high-level objectives are specified as a variable number of partial or complete pose targets that are spaced arbitrarily in time. Our proposed framework utilizes a multi-critic reinforcement learning algorithm to effectively handle the mixture of dense and sparse rewards. In the experiments, the multi-critic method significantly reduces the effort of hyperparameter tuning compared to the standard single-critic alternative. Moreover, the proposed transformer-based architecture enables robots to anticipate future goals, which results in quantitative improvements in their ability to reach their targets.

[ Disney Research paper ]

Human-like walking where that human is the stompiest human to ever human its way through Humanville.

[ Engineai ]

We present the first static-obstacle avoidance method for quadrotors using just an onboard, monocular event camera. Quadrotors are capable of fast and agile flight in cluttered environments when piloted manually, but vision-based autonomous flight in unknown environments is difficult in part due to the sensor limitations of traditional onboard cameras. Event cameras, however, promise nearly zero motion blur and high dynamic range, but produce a large volume of events under significant ego-motion and further lack a continuous-time sensor model in simulation, making direct sim-to-real transfer not possible.

[ Paper University of Pennsylvania and University of Zurich ]

Cross-embodiment imitation learning enables policies trained on specific embodiments to transfer across different robots, unlocking the potential for large-scale imitation learning that is both cost-effective and highly reusable. This paper presents LEGATO, a cross-embodiment imitation learning framework for visuomotor skill transfer across varied kinematic morphologies. We introduce a handheld gripper that unifies action and observation spaces, allowing tasks to be defined consistently across robots.

[ LEGATO ]

The 2024 Xi'an Marathon has kicked off! STAR1, the general-purpose humanoid robot from Robot Era, joins runners in this ancient yet modern city for an exciting start!

[ Robot Era ]

In robotics, there are valuable lessons for students and mentors alike. Watch how the CyberKnights, a FIRST robotics team champion sponsored by RTX, with the encouragement of their RTX mentor, faced challenges after a poor performance and scrapped its robot to build a new one in just nine days.

[ CyberKnights ]

In this special video, PAL Robotics takes you behind the scenes of our 20th-anniversary celebration, a memorable gathering with industry leaders and visionaries from across robotics and technology. From inspiring speeches to milestone highlights, the event was a testament to our journey and the incredible partnerships that have shaped our path.

[ PAL Robotics ]

Thanks, Rugil!