In this article, we describe a system design approach for the teleoperation of a whole-body bilateral humanoid robot. The conventional approach for the teleoperation of a unilateral/bilateral humanoid robot has several problems related to bipedal locomotion. In this work, we have focused on the bipedal stability and 2D/3D locomotion space problems. Our proposed system is primarily composed of bipedal-oriented assistive subsystems and a seat-type whole-body exoskeleton cockpit called "TABLIS". The bipedal-oriented assistive subsystems prevent the humanoid from falling down in cases where an operator provides an inaccurate input. TABLIS reproduces a remote 2D/3D ground surface and overcomes the space limitation of locomotion, such as the use of treadmills. We have achieved bilateral quasi-3D step traversing using our system in a demonstration experiment.

In this paper, we propose a novel flying humanoid robot platform with bi-copter flight unit. Humanoid robots have the ability to move by walking, but it is not sufficient for some tasks. To enhance the mobility of humanoid robots, we apply aerial robotics and develop a flying humanoid robot capable of walking and flying in the air. We describe the modeling and control of bi-copter and takeoff pose generation method for flying humanoid robot. We show the hardware implementations of a bi-copter flight unit, a humanoid robot and the whole system of flying humanoid robot. We perform several experiments to verify the effectiveness of the flight control, extended mobility and the implemented robot system including perception.

Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run over large barriers. To address these limitations, we aim to achieve rapid terrestrial locomotion ability and simultaneously expand the locomotion domain to the air by utilizing thrust for propulsion. In this letter, we first describe an optimized construction method for a humanoid robot equipped with wheels and a flight unit to achieve these abilities. Then, we describe the integrated control framework of the proposed flying humanoid for each locomotion mode: aerial, legged, and wheeled locomotion. Finally, we achieved multimodal locomotion and aerial manipulation experiments using the proposed robot platform. To the best of our knowledge, this is the first time that a single humanoid has simultaneously achieved three different types of locomotion, including flight.

Humanoid research aimed at verifying human movements and substituting for work deals with movement acquisition in various environments to which humans can adapt. On the other hand, water exists as an environment in which humanoids cannot adapt, even though humans adapt and demand work alternatives. Therefore, there is room to construct a platform that can operate underwater and the ground and verify the method of acquiring operation underwater. This study constructs the humanoid that can operate in both land and water environments using modular components that can easily change the body structure. While changing the environment’s force, such as frictional force, water resistance, and buoyancy, the humanoid performed moving movements such as swimming and walking in multiple lands and water settings. Walking motion experiments have shown that the underwater environment’s viscosity effectively reduces the speed of falls and prevents damage in humanoid experiments. We investigated a solution to the problem that humanoids are vulnerable to disturbance in an environment where friction is brutal to obtain through swimming.

Public datasets of vineyard imagery were collected for detection, segmentation and disease mapping and are now proposed as a source for 3D scene reconstruction. Their documentation rarely states the properties that reconstruction depends on, such as view overlap, parallax and frame spacing, so it is unclear which can be reconstructed. This study measures that for the publicly available vineyard datasets. A structured search identifies eighteen datasets. Ten are characterized under a schema of thirty-six documented and measured properties, and only six contain overlapping views. Every sequence that registers is reconstructed with one fixed pipeline of structure from motion and 3D Gaussian splatting, giving twenty-seven reconstructions on two held-out splits. Registration is decided by the capture rather than by the dataset; novel-view quality varies as much within a dataset as between datasets; and frame spacing is the one capture property that limits reconstruction. Three preprocessing steps are tested as ablations on the failure cases. Band alignment restores registration, whereas dehazing a backlit pass and masking the chassis of a ground robot give no improvement that this study can resolve. The schema and pipeline apply to any vineyard dataset, and the results are published as an open online catalog.