Author

A. Rizzi

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Open access Sep 2026

AthenaZero: A low-inertia, bimanual robot for dynamic manipulation.

AthenaZero is a bimanual manipulator designed to minimize inertia without compromising control authority. By using quasidirect drive actuation and transmission remotization techniques, the system achieves an effective end-point mass comparable to that of a human, about an order of magnitude less than that of convention...

Andrew S. Morgan, Gregory Xie, Capprin Bass et al. · Science Robotics · 1 citation

Preprint Oct 2026

HuMBLE: Human Motion-Driven Behavior Learning for Embodied Locomotion

Despite recent advances in humanoid locomotion, controllers optimized for command tracking and robustness tend to produce mechanical gaits, whereas controllers tied to human motion data often fail to generalize to commands outside the data distribution. This work introduces a learning framework that balances these comp...

M. Zhang, Dong-Ho Kang, Kevin Bergamin et al. · 0 citations

Preprint Aug 2026

Rapid On-Robot Learning for Dynamic Manipulation Skills: Robot Juggling

This work constructs a mutually reachable set that allows safe transitions between successive throws and catches, without driving either arm into a state from which its next action would require violating the robot's joint or actuator limits.

Taeyoon Lee, Chun-Peng Wang, C. Atkeson et al. · 0 citations