Related papers: Toward an Expressive Bipedal Robot: Variable Gait …

In this paper, we propose a novel framework for synthesizing a single multimodal control policy capable of generating diverse behaviors (or modes) and emergent inherent transition maneuvers for bipedal locomotion. In our method, we first…

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…

We present a novel, real-time algorithm, EVA, for generating virtual agents with various perceived emotions. Our approach is based on using Expressive Features of gaze and gait to convey emotions corresponding to happy, sad, angry, or…

We consider the problem of identifying people on the basis of their walk (gait) pattern. Classical approaches to tackle this problem are based on, e.g., video recordings or piezoelectric sensors embedded in the floor. In this work, we rely…

In this paper, we consider the problem of designing collision-free, dynamically feasible, and socially-aware trajectories for robots operating in environments populated by humans. We define trajectories to be social-aware if they do not…

Bipedal walking is one of the most important hallmarks of human that robots have been trying to mimic for many decades. Although previous control methodologies have achieved robot walking on some terrains, there is a need for a framework…

Walking controllers often require parametrization which must be tuned according to some cost function. To estimate these parameters, simulations can be performed which are cheap but do not fully represent reality. Real-robot experiments, on…

We propose an online motion planner for legged robot locomotion with the primary objective of achieving energy efficiency. The conceptual idea is to leverage a placement set of footstep positions based on the robot's body position to…

Gait patterns play a critical role in human identification and healthcare analytics, yet current progress remains constrained by small, narrowly designed models that fail to scale or generalize. Building a unified gait foundation model…

We present the design and experimental results of the first 1-DOF, hip-actuated bipedal robot. While passive dynamic walking is simple by nature, many existing bipeds inspired by this form of walking are complex in control, mechanical…

We present a novel autoregression network to generate virtual agents that convey various emotions through their walking styles or gaits. Given the 3D pose sequences of a gait, our network extracts pertinent movement features and affective…

Little research into tactile feet has been done for walking robots despite the benefits such feedback could give when walking on uneven terrain. This paper describes the development of a simple, robust and inexpensive tactile foot for…

The use of gait for person identification has important advantages such as being non-invasive, unobtrusive, not requiring cooperation and being less likely to be obscured compared to other biometrics. Existing methods for gait recognition…

We propose in this paper Periodic Interaction Primitives - a probabilistic framework that can be used to learn compact models of periodic behavior. Our approach extends existing formulations of Interaction Primitives to periodic movement…

Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…

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…

The biomechanics of the human body allow humans a range of possible ways of executing movements to attain specific goals. Nevertheless, humans exhibit significant patterns in how they execute movements. We propose that the observed patterns…

Flying animals, such as bats, fly through their fluidic environment as they create air jets and form wake structures downstream of their flight path. Bats, in particular, dynamically morph their highly flexible and dexterous armwing to…

In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…

Bipedal humanoid robots must precisely coordinate balance, timing, and contact decisions when locomoting on constrained footholds such as stepping stones, beams, and planks -- even minor errors can lead to catastrophic failure. Classical…