Related papers: An Optimization-Based Model for Full-body Reaching…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
This paper investigates a fully distributed cooperation scheme for networked mobile manipulators. To achieve cooperative task allocation in a distributed way, an adaptation-based estimation law is established for each robotic agent to…
Human movement prediction is difficult as humans naturally exhibit complex behaviors that can change drastically from one environment to the next. In order to alleviate this issue, we propose a prediction framework that decouples short-term…
Synthesizing whole-body manipulation of articulated objects, including body motion, hand motion, and object motion, is a critical yet challenging task with broad applications in virtual humans and robotics. The core challenges are twofold.…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
We present a deep learning method for composite and task-driven motion control for physically simulated characters. In contrast to existing data-driven approaches using reinforcement learning that imitate full-body motions, we learn…
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies…
It is doubtful that animals have perfect inverse models of their limbs (e.g., what muscle contraction must be applied to every joint to reach a particular location in space). However, in robot control, moving an arm's end-effector to a…
In this paper, we present a novel general framework grounded in the factor graph theory to solve kinematic and dynamic problems for multi-body systems. Although the motion of multi-body systems is considered to be a well-studied problem and…
This paper presents the principal challenges and opportunities associated with computational biomechanics research. The underlying cognitive control involved in the process of human motion is inherently complex, dynamic, multidimensional,…
A realistic human kinematic model that satisfies anatomical constraints is essential for human-robot interaction, biomechanics and robot-assisted rehabilitation. Modeling realistic joint constraints, however, is challenging as human arm…
Virtual human simulation integrated into virtual reality applications is mainly used for virtual representation of the user in virtual environment or for interactions between the user and the virtual avatar for cognitive tasks. In this…
Whole-body 3D human mesh estimation aims to reconstruct the 3D human body, hands, and face simultaneously. Although several methods have been proposed, accurate prediction of 3D hands, which consist of 3D wrist and fingers, still remains…
A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…
This paper investigates humanoid whole-body dexterous manipulation, where the efficient collection of high-quality demonstration data remains a central bottleneck. Existing teleoperation systems often suffer from limited portability,…
This paper presents a novel online capable method for simultaneous estimation of human motion in terms of segment orientations and positions along with sensor-to-segment calibration parameters from inertial sensors attached to the body. In…
Learning whole-body control for locomotion and arm motions in a single policy has challenges, as the two tasks have conflicting goals. For instance, efficient locomotion typically favors a horizontal base orientation, while end-effector…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
Performing highly agile acrobatic motions with a long flight phase requires perfect timing, high accuracy, and coordination of the full-body motion. To address these challenges, we present a novel approach on timings and trajectory…
This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the…