Robot Data and Hardware

Plan humanoid footsteps across terrain with reachable poses, support area, swing clearance, balance, whole-body feasibility, replanning and tests.

Measure humanoid foot force, moment, center of pressure and contact with calibrated frames, low-load validity gates, saturation and dynamic tests.

Estimate humanoid pose and velocity with IMU, joint kinematics and foot contact while handling bias, slip, observability, timing and validation.

Design robot deformable object manipulation for cloth, cable and bags with task-specific state, topology, action primitives, recovery and tests.

Plan mobile manipulator base and arm motion with reachability, whole-body collision, stability, Nav2, MoveIt, arrival error, reobservation and recovery.

Build robot visual-tactile fusion with time alignment, frame calibration, contact state, uncertainty, modality ablation, dropout and control tests.

Coordinate two robot arms with absolute and relative pose, closed-chain constraints, internal force, load sharing, timing, collision and recovery tests.

Design robot in-hand manipulation with rolling, sliding, finger gaiting, tactile feedback, pose tracking, force limits, Sim2Real and recovery tests.

Test vacuum gripper failure from leaks, rough or porous surfaces, pressure buildup, acceleration, eccentric load, pad wear and loss detection.

Design robot peg-in-hole force control with bounded approach, contact detection, compliance, search, insertion, jamming, seating and recovery tests.