Related papers: Model of joint displacement using sigmoid function…

Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…

In the present work, irregular complex joints of the human arm are modelled in the computer-aided design environment. Accurately the geometric models of the joints and surrounding bony regions are developed from computed tomography data set…

The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It employs a low-cost measuring system…

Object tracking is a key aspect in many applications such as augmented reality in medicine (e.g. tracking a surgical instrument) or robotics. Squared planar markers have become popular tools for tracking since their pose can be estimated…

Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamicsbased…

Underactuated manipulators reduce the number of bulky motors, thereby enabling compact and mechanically robust designs. However, fewer actuators than joints means that the manipulator can only access a specific manifold within the joint…

Posture control and balance are basic requirements for a humanoid robot performing motor tasks like walking and interacting with the environment. For this reason, posture control is one of the elements taken into account when evaluating the…

We propose a method for object-aware 3D egocentric pose estimation that tightly integrates kinematics modeling, dynamics modeling, and scene object information. Unlike prior kinematics or dynamics-based approaches where the two components…

Skid-Steer Wheeled Mobile Robots (SSWMRs) are increasingly being used for off-road autonomy applications. When turning at high speeds, these robots tend to undergo significant skidding and slipping. In this work, using Gaussian Process…

Locomotion of legged machines faces the problems of model complexity and computational costs. Algorithms based on complex models and/or reinforcement learning exist to solve the walking control task. In this project, we aim to develop a…

Enhancing the explosive power output of the knee joints is critical for improving the agility and obstacle-crossing capabilities of humanoid robots. However, a mismatch between the knee-to-center-of-mass (CoM) transmission ratio and jumping…

The raising availability of 3D cameras and dramatic improvement of computer vision algorithms in the recent decade, accelerated the research of automatic movement assessment solutions. Such solutions can be implemented at home, using…

In this paper we give a new control model based on the so called computed-torque method for the control of a 2 degrees of freedom orthosis for the rehabilitation of the lower limb, the AIRGAIT exoskeleton's leg orthosis. The actuation of…

Human motion prediction is a challenging and important task in many computer vision application domains. Existing work only implicitly models the spatial structure of the human skeleton. In this paper, we propose a novel approach that…

In this paper, we propose a method for selecting the optimal footholds for legged systems. The goal of the proposed method is to find the best foothold for the swing leg on a local elevation map. We apply the Convolutional Neural Network to…

Lower limb amputations and neuromuscular impairments severely restrict mobility, necessitating advancements beyond conventional prosthetics. While motorized bionic limbs show promise, their effectiveness depends on replicating the dynamic…

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…

The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It employs a low-cost measuring system…

Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…

This paper presents a novel method for 3D human pose and shape estimation from images with sparse views, using joint points and silhouettes, based on a parametric model. Firstly, the parametric model is fitted to the joint points estimated…