A Unified and General Humanoid Whole-Body Controller for Fine-Grained Locomotion
provide an in-depth analysis of how the various commands affect humanoid movement and offer insights into the relationships between these commands.To our knowledge, HUGWBC is the first humanoid whole-body controller that supports such versatile locomotion behaviors with high robustness and flexibility.
Authors
- Jiangmiao Pang (ORCID: https://orcid.org/0000-0002-6711-9319)
- Wentao Dong (ORCID: https://orcid.org/0000-0002-7207-8355)
- Weinan Zhang (ORCID: https://orcid.org/0000-0002-0127-2425)
- Minghuan Liu (ORCID: https://orcid.org/0009-0009-5585-1746)
- Yufei Xue (ORCID: https://orcid.org/0009-0008-4167-8244)
Publication Details
- Published
- 2025-06-21
- DOI
- https://doi.org/10.15607/rss.2025.xxi.067
- Citations
- 7
- Primary Topic
- Prosthetics and Rehabilitation Robotics
- Type
- article
- Field-Weighted Citation Impact
- 4.72
Funders
- National Natural Science Foundation of China
- Shanghai Jiao Tong University