Related papers: Toward an Expressive Bipedal Robot: Variable Gait …
This work presents an extended framework for learning-based bipedal locomotion that incorporates a heuristic step-planning strategy guided by desired torso velocity tracking. The framework enables precise interaction between a humanoid…
It is often overlooked by roboticists when designing locomotion controllers for their legged machines, that energy consumption plays an important role in selecting the best gaits for locomotion at high speeds or over long distances. The…
In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) height assumption of the linear inverted pendulum model (LIPM)…
In this research article, we have reported periodic cellular automata rules for different gait state prediction and classification of the gait data using extreme machine Leaning (ELM). This research is the first attempt to use cellular…
This paper seeks insight into stabilization mechanisms for periodic walking gaits in 3D bipedal robots. Based on this insight, a control strategy based on virtual constraints, which imposes coordination between joints rather than a temporal…
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…
The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…
It remains challenging to achieve human-like locomotion in legged robots due to fundamental discrepancies between biological and mechanical structures. Although imitation learning has emerged as a promising approach for generating natural…
Hybrid systems, such as bipedal walkers, are challenging to control because of discontinuities in their nonlinear dynamics. Little can be predicted about the systems' evolution without modeling the guard conditions that govern transitions…
Exoskeletons modulate human movement across diverse applications, from performance augmentation to daily-life assistance. These systems often enforce specific kinematic patterns to mitigate injury risks and motivate users to keep moving…
Machine learning algorithms have found several applications in the field of robotics and control systems. The control systems community has started to show interest towards several machine learning algorithms from the sub-domains such as…
Walking is one of the most common modes of terrestrial locomotion for humans. Walking is essential for humans to perform most kinds of daily activities. When a person walks, there is a pattern in it, and it is known as gait. Gait analysis…
Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP)…
Walking is among the most common human activities where the feet can gather rich tactile information from the ground. The dynamic contact between the feet and the ground generates vibration signals that can be sensed by the foot skin. While…
This paper introduces a framework, called EMOTION, for generating expressive motion sequences in humanoid robots, enhancing their ability to engage in humanlike non-verbal communication. Non-verbal cues such as facial expressions, gestures,…
The gait, as a kind of soft biometric characteristic, can reflect the distinct walking patterns of individuals at a distance, exhibiting a promising technique for unrestrained human identification. With largely excluding gait-unrelated cues…
We present a framework for learning a single policy capable of producing all quadruped gaits and transitions. The framework consists of a policy trained with deep reinforcement learning (DRL) to modulate the parameters of a system of…
In this study, a chair-type asymmetric tripedal low-rigidity robot was designed based on the three-legged chair character in the movie "Suzume" and its gait was generated. Its body structure consists of three legs that are asymmetric to the…
Inspired by animals that co-adapt their brain and body to interact with the environment, we present a tendon-driven and over-actuated (i.e., n joint, n+1 actuators) bipedal robot that (i) exploits its backdrivable mechanical properties to…
Gait recognition has a rapid development in recent years. However, gait recognition in the wild is not well explored yet. An obvious reason could be ascribed to the lack of diverse training data from the perspective of intrinsic and…