Related papers: A General Optimal Control Model of Human Movement …
With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly important. Specifically, predicting future positions of…
The paper presents a planner to generate walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot. The interaction between the robot and the walking surface is modeled explicitly via new conditions,…
Passive monitoring in daily life may provide invaluable insights about a person's health throughout the day. Wearable sensor devices are likely to play a key role in enabling such monitoring in a non-obtrusive fashion. However, sensor data…
Pivoting gait is efficient for manipulating a big and heavy object with relatively small manipulating force, in which a robot iteratively tilts the object, rotates it around the vertex, and then puts it down to the floor. However, pivoting…
In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…
In this survey we consider mathematical models and methods recently developed to control crowd dynamics, with particular emphasis on egressing pedestrians. We focus on two control strategies: The first one consists in using special agents,…
Real-time computation of optimal control is a challenging problem and, to solve this difficulty, many frameworks proposed to use learning techniques to learn (possibly sub-optimal) controllers and enable their usage in an online fashion.…
Human behavior modeling is important for the design and implementation of human-automation interactive control systems. In this context, human behavior refers to a human's control input to systems. We propose a novel method for human…
We propose a neural network approach to model general interaction dynamics and an adjoint based stochastic gradient descent algorithm to calibrate its parameters. The parameter calibration problem is considered as optimal control problem…
In this paper we introduce the optimal control of a kinetic model describing agents who migrate on a graph and interact within its nodes exchanging a physical quantity. As a prototype model, we consider the spread of an infectious disease…
Humans are highly adaptable, swiftly switching between different modes to progressively handle different tasks, situations and contexts. In Human-object interaction (HOI) activities, these modes can be attributed to two mechanisms: (1) the…
During the steady gait, humans stabilize their head around the vertical orientation. While there are sensori-cognitive explanations for this phenomenon, its mechanical e fect on the body dynamics remains un-explored. In this study, we take…
In this paper we study the controlled motion of an arbitrary two-dimensional body in an ideal fluid with a moving internal mass and an internal rotor in the presence of constant circulation around the body. We show that by changing the…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
Passive and non-obtrusive health monitoring using wearables can potentially bring new insights into the user's health status throughout the day and may support clinical diagnosis and treatment. However, identifying segments of free-living…
An approach to model and estimate human walking kinematics in real-time for Physical Human-Robot Interaction is presented. The human gait velocity along the forward and vertical direction of motion is modelled according to the Yoyo-model.…
Among the infinite number of possible movements that can be produced, humans are commonly assumed to choose those that optimize criteria such as minimizing movement time, subject to certain movement constraints like signal-dependent and…
When navigating complex environments, animals often combine multiple strategies to mitigate the effects of external disturbances. These modalities often correspond to different sources of information, leading to speed-accuracy trade-offs.…
The paper describes results on two components of a research program focused on motion-based communication mediated by the dynamics of a control system. Specifically we are interested in how mobile agents engaged in a shared activity such as…
Stylized models of the neurodynamics that underpin sensory motor control in animals are proposed and studied. The voluntary motions of animals are typically initiated by high level intentions created in the primary cortex through a…