Related papers: Footprint-Driven Locomotion Composition
Human-like motion generation for robots often draws inspiration from biomechanical studies, which often categorize complex human motions into hierarchical taxonomies. While these taxonomies provide rich structural information about how…
Text-driven human motion synthesis has showcased its potential for revolutionizing motion design in the movie and game industry. Existing methods often rely on 3D motion capture data, which requires special setups, resulting in high costs…
Humans intuitively move to sound, but current humanoid robots lack expressive improvisational capabilities, confined to predefined motions or sparse commands. Generating motion from audio and then retargeting it to robots relies on explicit…
Interactive applications demand believable characters that respond naturally to dynamic environments. Traditional character animation techniques often struggle to handle arbitrary situations, leading to a growing trend of dynamically…
Despite the extensive presence of the legged locomotion in animals, it is extremely challenging to be reproduced with robots. Legged locomotion is an dynamic task which benefits from a planning that takes advantage of the gravitational pull…
Locomotion in microgravity often relies on sparsely and irregularly arranged anchors, motivating grasp-based mobility with multiple limbs. In this setting, dynamic locomotion is feasible only through deliberate regulation of both anchored…
We propose a data-driven optimization-based pre-compensation method to improve the contour tracking performance of precision motion stages by modifying the reference trajectory and without modifying any built-in low-level controllers. The…
To generate reliable motion for legged robots through trajectory optimization, it is crucial to simultaneously compute the robot's path and contact sequence, as well as accurately consider the dynamics in the problem formulation. In this…
We focus on the problem of developing energy efficient controllers for quadrupedal robots. Animals can actively switch gaits at different speeds to lower their energy consumption. In this paper, we devise a hierarchical learning framework,…
This report reviews recent advancements in human motion prediction, reconstruction, and generation. Human motion prediction focuses on forecasting future poses and movements from historical data, addressing challenges like nonlinear…
We propose FootFormer, a cross-modality approach for jointly predicting human motion dynamics directly from visual input. On multiple datasets, FootFormer achieves statistically significantly better or equivalent estimates of foot pressure…
This work aims to generate natural and diverse group motions of multiple humans from textual descriptions. While single-person text-to-motion generation is extensively studied, it remains challenging to synthesize motions for more than one…
Optimal control approaches in combination with trajectory optimization have recently proven to be a promising control strategy for legged robots. Computationally efficient and robust algorithms were derived using simplified models of the…
Predicting diverse object motions from a single static image remains challenging, as current video generation models often entangle object movement with camera motion and other scene changes. While recent methods can predict specific…
When walking on loose terrains, possibly covered with vegetation, the ground and grass should deform, but the character's gait should also change accordingly. We propose a method for modeling such two-ways interactions in real-time. We…
Human motion synthesis aims to generate plausible human motion sequences, which has raised widespread attention in computer animation. Recent score-based generative models (SGMs) have demonstrated impressive results on this task. However,…
A novel approach is presented for computing flexible body dynamics based on conventional structural dynamics models. This approach innovatively captures the rigid body motion component embedded within a flexible body's movement, generates…
Analysing human gait has found considerable interest in recent computer vision research. So far, however, contributions to this topic exclusively dealt with the tasks of person identification or activity recognition. In this paper, we…
Dance plays an important role as an artistic form and expression in human culture, yet automatically generating dance sequences is a significant yet challenging endeavor. Existing approaches often neglect the critical aspect of…
In this review we argue for the creation of a physics of moving systems -- a locomotion "robophysics" -- which we define as the pursuit of the discovery of principles of self generated motion. Robophysics can provide an important…