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TAXONOMY · /topics

Topics

Curated knowledge hubs for humanoid robotics. Each hub will connect the robots, updates, guides and questions on one subject.

20 topics · hubs in preparation

CONTROL & LEARNING

  • Locomotion

    Walking, running and other legged movement, from model-based control to learned gaits.

    37 ROBOTS

  • Manipulation

    Reaching, grasping and moving objects with humanoid arms and hands.

    45 ROBOTS

  • Reinforcement Learning

    Training control policies from reward signals, usually in simulation first.

    15 ROBOTS

  • Imitation Learning

    Learning behaviour from demonstrations, teleoperation data and motion capture.

    3 ROBOTS

  • Sim-to-real

    Transferring policies trained in simulation to physical robots, and why transfer fails.

    5 ROBOTS

  • Teleoperation

    Remote control of humanoids by a human operator, including data collection for learning.

    18 ROBOTS

  • Motion Planning

    Computing collision-free trajectories for arms, legs and the whole body.

    1 ROBOT

  • Whole-body Control

    Coordinating legs, torso and arms together under balance and contact constraints.

    4 ROBOTS

  • Balance

    Staying upright: stabilisation, push recovery and fall handling.

    2 ROBOTS

PERCEPTION & NAVIGATION

  • Computer Vision

    Cameras, depth sensing and the perception models that let humanoids interpret a scene.

    HUB PLANNED

  • SLAM

    Simultaneous localisation and mapping for robots moving through unknown spaces.

    HUB PLANNED

  • Navigation

    Getting from one place to another: path planning, obstacle avoidance and terrain.

    1 ROBOT

SOFTWARE & SIMULATION

  • ROS 2

    The ROS 2 middleware, its packages and how humanoid platforms integrate with it.

    13 ROBOTS

  • Isaac Sim

    NVIDIA's robotics simulator and the Isaac Lab learning framework built on it.

    11 ROBOTS

  • MuJoCo

    The MuJoCo physics engine and the robot models maintained for it.

    11 ROBOTS

  • Gazebo

    The Gazebo simulator and its use with ROS-based humanoid software.

    4 ROBOTS

HARDWARE

  • Actuators

    Motors, gearboxes and drive designs that move humanoid joints.

    HUB PLANNED

  • Dexterous Hands

    Multi-fingered hands: mechanisms, tactile sensing and in-hand control.

    3 ROBOTS

  • Sensors

    Encoders, IMUs, force-torque, tactile and other sensing on humanoid platforms.

    HUB PLANNED

SAFETY

  • Safety

    Safe operation around people: standards, risk assessment and failure behaviour.

    2 ROBOTS