So this paragraph summarizes it: >What was the most challenging part of this research? >Ren: The most challenging part of this research was that when receivin

So this paragraph summarizes it: >What was the most challenging part of this research? >Ren: The most challenging part of this research was that when receiving the long sequences of drum beats, CyberOne needs to assign sequences to each arm and leg and generate continuous collision-free whole-body trajectories within the hardware constraints. So, we extract the basic beats and build our drum beat motion trajectory library offline by optimization. Then, CyberOne can generate continuous trajectories consistent with any drum score. This approach gives more freedom to CyberOne playing drums, and is only limited by the robotics capability. Nice research, but I'd be more impressed with an online optimizer that only looks ahead about a dozen moves. The point of a humanoid robot is to put them in environments with uncertainty where a limited library of optimized moves won't be enough. Still, AFAICT, it's a fully closed loop from the cameras to the motors so that's nice.