Related papers: Footprint-Driven Locomotion Composition
Data-driven approaches are particularly useful for computational materials discovery and design as they can be used for rapidly screening over a very large number of materials, thus suggesting lead candidates for further in-depth…
Trajectory optimization is an essential tool for generating efficient, dynamically consistent gaits in legged locomotion. This paper explores the indirect method of trajectory optimization, emphasizing its application in creating optimal…
Walking motion planning based on Divergent Component of Motion (DCM) and Linear Inverted Pendulum Model (LIPM) is one of the alternatives that could be implemented to generate online humanoid robot gait trajectories. This algorithm requires…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
Quadruped robots face persistent challenges in achieving versatile locomotion due to limitations in reference motion data diversity. To address these challenges, we introduce an in-between motion generation based multi-style quadruped robot…
Natural and lifelike locomotion remains a fundamental challenge for humanoid robots to interact with human society. However, previous methods either neglect motion naturalness or rely on unstable and ambiguous style rewards. In this paper,…
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…
Pedestrian crowds encompass a complex interplay of intentional movements aimed at reaching specific destinations, fluctuations due to personal and interpersonal variability, and interactions with each other and the environment. Previous…
Mobile applications and on-body devices are becoming increasingly ubiquitous tools for physical activity tracking. We propose utilizing a self-tracker's habits to support continuous prediction of whether they will reach their daily step…
We present an imitation learning framework that extracts distinctive legged locomotion behaviors and transitions between them from unlabeled real-world motion data. By automatically discovering behavioral modes and mapping user steering…
Generating robust locomotion for a humanoid robot in the presence of disturbances is difficult because of its high number of degrees of freedom and its unstable nature. In this paper, we used the concept of Divergent Component of…
This paper extends the forced-oscillation-based reduced-order model of walking to a model with ankles and feet. A human-inspired paradigm was designed for the ankle dynamics, which results in improved gait characteristics compared to the…
Mining the underlying patterns in gigantic and complex data is of great importance to data analysts. In this paper, we propose a motion pattern approach to mine frequent behaviors in trajectory data. Motion patterns, defined by a set of…
Human movements are physical processes combining the classical mechanics of the human body moving in space and the biomechanics of the muscles generating the forces acting on the body under sophisticated sensory-motor control. One way to…
Compositional video generation aims to synthesize multiple instances with diverse appearance and motion. However, current approaches mainly focus on binding semantics, neglecting to understand diverse motion categories specified in prompts.…
Whole-body optimizers have been successful at automatically computing complex dynamic locomotion behaviors. However they are often limited to offline planning as they are computationally too expensive to replan with a high frequency.…
Human motions are compositional: complex behaviors can be described as combinations of simpler primitives. However, existing approaches primarily focus on forward modeling, e.g., learning holistic mappings from text to motion or composing a…
To traverse complex three-dimensional terrainwith large obstacles, animals and robots must transition across different modes. However, the most mechanistic understanding of terrestrial locomotion concerns how to generate and stabilize…
Text-driven human motion generation has recently attracted considerable attention, allowing models to generate human motions based on textual descriptions. However, current methods neglect the influence of human attributes-such as age,…
In pedestrian dynamics, the internal drive that propels individuals toward their goals is typically captured by a single, fixed parameter, the desired walking speed. This simplification overlooks that motivation fluctuates in response to…