  Can a quadrupedal robot perform bipedal motions like humans? Although
developing human-like behaviors is more often studied on costly bipedal robot
platforms, we present a solution over a lightweight quadrupedal robot that
unlocks the agility of the quadruped in an upright standing pose and is capable
of a variety of human-like motions. Our framework is with a hierarchical
structure. At the low level is a motion-conditioned control policy that allows
the quadrupedal robot to track desired base and front limb movements while
balancing on two hind feet. The policy is commanded by a high-level motion
generator that gives trajectories of parameterized human-like motions to the
robot from multiple modalities of human input. We for the first time
demonstrate various bipedal motions on a quadrupedal robot, and showcase
interesting human-robot interaction modes including mimicking human videos,
following natural language instructions, and physical interaction. The video is
available at https://sites.google.com/view/bipedal-motions-quadruped.
