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Current studies on human locomotion focus mainly on solid ground walking conditions. In this paper, we present a biomechanic comparison of human walking locomotion on solid ground and sand. A novel dataset containing 3-dimensional motion…
Human movement analysis is a key area of research in robotics, biomechanics, and data science. It encompasses tracking, posture estimation, and movement synthesis. While numerous methodologies have evolved over time, a systematic and…
Computational models of aquatic locomotion range from individual modest simple swimmers in 2D to sophisticated 3D individual swimmers to complex multi-swimmer models that attempt to parse collective behavioral dynamics. Each of these models…
Human motion prediction is a fundamental part of many human-robot applications. Despite the recent progress in human motion prediction, most studies simplify the problem by predicting the human motion relative to a fixed joint and/or only…
Performance models of interaction, such as Fitts Law, are important tools for predicting and explaining human motor performance and for designing high-performance user interfaces. Extensive prior work has proposed such models for the 3D…
Due to the complexity of the human body and its neuromuscular stabilization, it has been challenging to efficiently and accurately predict human motion and capture posture while being driven. Existing simple models of the seated human body…
Learning a locomotion controller for a musculoskeletal system is challenging due to over-actuation and high-dimensional action space. While many reinforcement learning methods attempt to address this issue, they often struggle to learn…
Understanding the well-being of cattle is crucial in various agricultural contexts. Cattle's body shape and joint articulation carry significant information about their welfare, yet acquiring comprehensive datasets for 3D body pose…
Exploring spatial-temporal dependencies from observed motions is one of the core challenges of human motion prediction. Previous methods mainly focus on dedicated network structures to model the spatial and temporal dependencies. This paper…
Human Pose Estimation is a low-level task useful forsurveillance, human action recognition, and scene understandingat large. It also offers promising perspectives for the animationof synthetic characters. For all these applications, and…
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…
Inverse Kinematics (IK) remains a dynamic field of research, with various methods striving for speed and precision. Despite advancements, many IK techniques face significant challenges, including high computational demands and the risk of…
We propose an online motion planner for legged robot locomotion with the primary objective of achieving energy efficiency. The conceptual idea is to leverage a placement set of footstep positions based on the robot's body position to…
The paper presents the kinematic modelling for the coupled motion of a 6-DOF surgical parallel robot PARA-SILSROB which guides a mobile platform carrying the surgical instruments, and the actuators of the sub-modules which hold these tools.…
Designing an effective move-generation function for Simulated Annealing (SA) in complex models remains a significant challenge. In this work, we present a combination of theoretical analysis and numerical experiments to examine the impact…
This paper applies a recently developed geometric PID controller to stabilize a three-link planar bipedal hybrid dynamic walking model. The three links represent the robot torso and two kneeless legs, with an independent control torque…
Based on the idea of variable stiffness mechanisms, a variety of such mechanisms is shown in this work. Specifically, 2-DOF parallel kinematic machines equipped with redundant actuators and non-linear springs in the actuated joints are…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
Model selection methods are used in different scientific contexts to represent a characteristic data set in terms of a reduced number of parameters. Apparently, these methods have not found their way into the literature on multibody systems…
We present here the results of an analysis carried out by biologists and roboticists with the aim of modeling bird locomotion kinematics for robotics purposes. The aim was to develop a bio-inspired kinematic model of the bird leg from…