Related papers: 3LP: a linear 3D-walking model including torso and…
Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…
We have developed biped robots with a passive dynamic walking mechanism. This study proposes a compass model with a wobbling mass connected to the upper body and oscillating in the horizontal direction to clarify the influence of the…
When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can deform if there is a mechanical weakness. Under these…
The ability to generate dynamic walking in real-time for bipedal robots with input constraints and underactuation has the potential to enable locomotion in dynamic, complex and unstructured environments. Yet, the high-dimensional nature of…
Humans excel at robust bipedal walking in complex natural environments. In each step, they adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to be robust against uncertainties in ground conditions.…
Although bipedal locomotion provides the ability to traverse unstructured environments, it requires careful planning and control to safely walk across without falling. This poses an integrated challenge for the robot to perceive, plan, and…
Joint forecasting of human trajectory and pose dynamics is a fundamental building block of various applications ranging from robotics and autonomous driving to surveillance systems. Predicting body dynamics requires capturing subtle…
We present a highly reactive controller which enables bipedal robots to blindly walk over various kinds of uneven terrains while resisting pushes. The high level motion planner does fast online optimization for footstep locations and Center…
Safe path and gait planning are essential for bipedal robots to navigate complex real-world environments. The prevailing approaches often plan the path and gait separately in a hierarchical fashion, potentially resulting in unsafe movements…
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…
Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…
Models of bipedal locomotion are hybrid, with a continuous component often generated by a Lagrangian plus actuators, and a discrete component where leg transfer takes place. The discrete component typically consists of a locally embedded…
Reducing the complexity of higher order problems can enable solving them in analytical ways. In this paper, we propose an analytic whole body motion generator for humanoid robots. Our approach targets inexpensive platforms that possess…
In this work, we develop an automated method to generate 3D human walking motion in simulation which is comparable to real-world human motion. At the core, our work leverages the ability of deep reinforcement learning methods to learn…
In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for walking on flat terrain to plan for both vertical motion of the…
Despite decades of study, many unknowns exist about the mechanisms governing human locomotion. Current models and motor control theories can only partially capture the phenomenon. This may be a major cause of the reduced efficacy of lower…
We are motivated by a study that seeks to better understand the dynamic relationship between muscle activation and paw position during locomotion. For each gait cycle in this experiment, activation in the biceps and triceps is measured…
This paper proposes an online bipedal footstep planning strategy that combines model predictive control (MPC) and reinforcement learning (RL) to achieve agile and robust bipedal maneuvers. While MPC-based foot placement controllers have…
When do locomotion controllers require reasoning about nonlinearities? In this work, we show that a whole-body model-predictive controller using a simple linear time-invariant approximation of the whole-body dynamics is able to execute…
Partial-assistance exoskeletons hold significant potential for gait rehabilitation by promoting active participation during (re)learning of normative walking patterns. Typically, the control of interaction torques in partial-assistance…