Related papers: Data-Driven Gait Segmentation for Walking Assistan…
In this paper, we propose an efficient approach to generate dynamic and versatile humanoid walking with non-constant center of mass (COM) height. We exploit the benefits of using reduced order models (ROMs) and stepping control to generate…
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…
Knee-less bipedal robots like SLIDER have the advantage of ultra-lightweight legs and improved walking energy efficiency compared to traditional humanoid robots. In this paper, we firstly introduce an improved hardware design of the SLIDER…
Human gait refers to a daily motion that represents not only mobility, but it can also be used to identify the walker by either human observers or computers. Recent studies reveal that gait even conveys information about the walker's…
Gait recognition is a remote biometric technology that utilizes the dynamic characteristics of human movement to identify individuals even under various extreme lighting conditions. Due to the limitation in spatial perception capability…
Generating stable walking gaits that yield natural locomotion when executed on robotic-assistive devices is a challenging task that often requires hand-tuning by domain experts. This paper presents an alternative methodology, where we…
People with mobility impairments are often recommended for gait assessment studies to diagnose their condition and to select appropriate physiotherapy to improve their mobility. These studies are often conducted in clinical or lab settings,…
In trying to build humanoid robots that perform useful tasks in a world built for humans, we address the problem of autonomous locomotion. Humanoid robot planning and control algorithms for walking over rough terrain are becoming…
Gait recognition is the process of identifying humans from their bipedal locomotion such as walking or running. As such, gait data is privacy sensitive information and should be anonymized where possible. With the rise of higher quality…
MoCap-based human identification, as a pattern recognition discipline, can be optimized using a machine learning approach. Yet in some applications such as video surveillance new identities can appear on the fly and labeled data for all…
In this article, we propose a deep learning framework that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation accomplishes to accurately and robustly estimate the contact…
Gait analysis (GA) has been widely used in physical activity monitoring and clinical contexts, and the estimation of the spatial-temporal gait parameters is of primary importance for GA. With the quick development of smart tiny sensors, GA…
We present a data-driven algorithm for generating gaits of virtual characters with varying dominance traits. Our formulation utilizes a user study to establish a data-driven dominance mapping between gaits and dominance labels. We use our…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In particular, we propose a new control pipeline, wherein the high-level trajectory modulator shapes the…
Smart assistive technologies such as sensor-based footwear and walking aids offer promising opportunities for gait rehabilitation through real-time feedback and patient-centered monitoring. While biofeedback applications show great…
In this paper, we propose a novel deep learning method based on a new Hybrid ConvNet-Transformer architecture to detect and stage Parkinson's disease (PD) from gait data. We adopt a two-step approach by dividing the problem into two…
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…
Accurate estimation of spatial gait characteristics is critical to assess motor impairments resulting from neurological or musculoskeletal disease. Currently, however, methodological constraints limit clinical applicability of…
Sprawling locomotion in vertebrates, particularly salamanders, demonstrates how body undulation and spinal mobility enhance stability, maneuverability, and adaptability across complex terrains. While prior work has separately explored…