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simmediumhumanoidmetric · varies
HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control
Description
While current humanoid whole-body control frameworks predominantly rely on the static environment assumptions, addressing tasks characterized by high dynamism and complex interactions presents a formidable challenge. In this paper, we address humanoid skateboarding, a highly challenging task requiring stable dynamic maneuvering on an underactuated wheeled platform. This integrated system is governed by non-holonomic constraints and tightly coupled human-object interactions. Successfully executin