Related papers: An Optimization-Based Model for Full-body Reaching…

Modeling and control of the human musculoskeletal system is important for understanding human motor functions, developing embodied intelligence, and optimizing human-robot interaction systems. However, current human musculoskeletal models…

We present a novel retargeting algorithm that transfers the musculature of a reference anatomical model to new bodies with different sizes, body proportions, muscle capability, and joint range of motion while preserving the functionality of…

This paper presents an uncomplicated dynamic controller for generating physically-plausible three-dimensional full-body biped character rise motions on-the-fly at run-time. Our low-dimensional controller uses fundamental reference…

Due to the several applications on Human-machine interaction (HMI), this area of research has become one of the most popular in recent years. This is the case for instance of advanced training machines, robots for rehabilitation, robotic…

Optimal control problems are formulated and efficient computational procedures are proposed for combined orbital and rotational maneuvers of a rigid body in three dimensions. The rigid body is assumed to act under the influence of forces…

Synergistic prostheses enable the coordinated movement of the human-prosthetic arm, as required by activities of daily living. This is achieved by coupling the motion of the prosthesis to the human command, such as the residual limb…

Predictive simulation of human motion could provide insight into optimal techniques. In repetitive or long-duration tasks, these simulations must predict fatigue-induced adaptation. However, most studies minimize cost function terms related…

An internal model of the own body can be assumed a fundamental and evolutionary-early representation as it is present throughout the animal kingdom. Such functional models are, on the one hand, required in motor control, for example solving…

To enhance motion comfort in (automated) driving we present biomechanical models and demonstrate their ability to capture vibration transmission from seat to trunk and head. A computationally efficient full body model is presented, able to…

Accurately modeling contact behaviors for real-world, near-rigid materials remains a grand challenge for existing rigid-body physics simulators. This paper introduces a data-augmented contact model that incorporates analytical solutions…

Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…

Motion prediction in unstructured environments is a difficult problem and is essential for safe and efficient human-robot space sharing and collaboration. In this work, we focus on manipulation movements in environments such as homes,…

We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact is assumed to be a planar non-convex contact patch. The planar non-convex contact patch…

This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…

Using joint actuators to drive the skeletal movements is a common practice in character animation, but the resultant torque patterns are often unnatural or infeasible for real humans to achieve. On the other hand, physiologically-based…

This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for solving dynamically the inverse kinematics of highly articulate systems such as humans. We present…

The most popular type of devices used to track a user's posture in a virtual reality experience consists of a head-mounted display and two controllers held in both hands. However, due to the limited number of tracking sensors (three in…

Autonomous mobile manipulation offers a dual advantage of mobility provided by a mobile platform and dexterity afforded by the manipulator. In this paper, we present a whole-body optimal control framework to jointly solve the problems of…

The general problem of planning feasible trajectories for multimodal robots is still an open challenge. This paper presents a whole-body trajectory optimisation approach that addresses this challenge by combining methods and tools developed…

Motion prediction is a classic problem in computer vision, which aims at forecasting future motion given the observed pose sequence. Various deep learning models have been proposed, achieving state-of-the-art performance on motion…