Related papers: A General Optimal Control Model of Human Movement …

For a class of biped robots with impulsive dynamics and a non-empty set of passive gaits (unactuated, periodic motions of the biped model), we present a method for computing continuous families of locally optimal gaits with respect to a…

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…

Gait recognition is the characterization of unique biometric patterns associated with each individual which can be utilized to identify a person without direct contact. A public gait database with a relatively large number of subjects can…

In empirical studies of random walks, continuous trajectories of animals or individuals are usually sampled over a finite number of points in space and time. It is however unclear how this partial observation affects the measured…

Empirical observations indicate striking similarities among locomotion in terrestrial animals, birds, and fish, but unifying physical grounds are lacking. When applied to efficient locomotion, the analytical mechanics principle of minimum…

In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…

Recent research highlighted the scaling property of human and animal mobility. An interesting issue is that the exponents of scaling law for animals and humans in different situations are quite different. This paper proposes a general…

Geometric motion planning offers effective and interpretable gait analysis and optimization tools for locomoting systems. However, due to the curse of dimensionality in coordinate optimization, a key component of geometric motion planning,…

Gait recognition is one of the most recent emerging techniques of human biometric which can be used for security based purposes having unobtrusive learning method. In comparison with other bio-metrics gait analysis has some special security…

Gait adaptation is an important part of gait analysis and its neuronal origin and dynamics has been studied extensively. In neurorehabilitation, it is important as it perturbs neuronal dynamics and allows patients to restore some of their…

Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…

Understanding the movement behaviours of individuals and the way they react to the external world is a key component of any problem that involves the modelling of human dynamics at a physical level. In particular, it is crucial to capture…

Cost functions have the potential to provide compact and understandable generalizations of motion. The goal of Inverse Optimal Control (IOC) is to analyze an observed behavior which is assumed to be optimal with respect to an unknown cost…

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…

Legged robots with closed-loop kinematic chains are increasingly prevalent due to their increased mobility and efficiency. Yet, most motion generation methods rely on serial-chain approximations, sidestepping their specific constraints and…

Muscle force sharing is typically resolved by minimizing a specific objective function to approximate neural control strategies. An inverse optimal control approach was applied to identify the "best" objective function, among a positive…

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…

The behavior of pedestrians shows certain regularities, which can be described by quantitative (partly stochastic) models. The models are based on the behavior of individual pedestrians, which depends on the pedestrian intentions and on the…

The study of biomechanics during locomotion provides valuable insights into the effects of varying conditions on specific movement patterns. This research focuses on examining the influence of different shoe parameters on walking…

This paper proposes a data-driven method for powered prosthesis control that achieves stable walking without the need for additional sensors on the human. The key idea is to extract the nominal gait and the human interaction information…