Related papers: Synthesis of Biologically Realistic Human Motion U…
We propose a simple and practical approach for incorporating the effects of muscle inertia, which has been ignored by previous musculoskeletal simulators in both graphics and biomechanics. We approximate the inertia of the muscle by…
Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, inefficiency, and long-term physical strain. To address this…
This paper focuses on the analysis of human gait cycle dynamics and presents a mathematical model to determine the torque exerted on the lower limb joints throughout the complete gait cycle, including its various phases. The study involved…
Humans excel at robust bipedal walking in complex natural environments. In each step, they adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to be robust against uncertainties in ground conditions.…
Real-time tracking of human body motion is crucial for interactive and immersive experiences in AR/VR. However, very limited sensor data about the body is available from standalone wearable devices such as HMDs (Head Mounted Devices) or AR…
Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…
Recent advances in digital avatar technology have enabled the generation of compelling virtual characters, but deploying these avatars on compute-constrained devices poses significant challenges for achieving realistic garment deformations.…
Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…
Creating scenes for captured motions that achieve realistic human-scene interaction is crucial for 3D animation in movies or video games. As character motion is often captured in a blue-screened studio without real furniture or objects in…
The emergence of robot-based body augmentation promises exciting innovations that will inform robotics, human-machine interaction, and wearable electronics. Even though augmentative devices like extra robotic arms and fingers in many ways…
Linear models for control and motion generation of humanoid robots have received significant attention in the past years, not only due to their well known theoretical guarantees, but also because of practical computational advantages.…
Programming a robot to deal with open-ended tasks remains a challenge, in particular if the robot has to manipulate objects. Launching, grasping, pushing or any other object interaction can be simulated but the corresponding models are not…
Continuum manipulators offer intrinsic dexterity and safe geometric compliance for navigation within confined and obstacle-rich environments. However, their infinite-dimensional backbone deformation, unmodeled internal friction, and…
Traditional character animation specializes in characters with a rigidly articulated skeleton and a bipedal/quadripedal morphology. This assumption simplifies many aspects for designing physically based animations, like locomotion, but…
Over the course of the last several years there was a strong interest in application of modern optimal control techniques to the field of character animation. This interest was fueled by introduction of efficient learning based algorithms…
Understanding human motion beyond surface kinematics is crucial for motion analysis, rehabilitation, and injury risk assessment. However, progress in this domain is limited by the lack of large-scale datasets with biomechanical annotations,…
We propose a method for generating video-realistic animations of real humans under user control. In contrast to conventional human character rendering, we do not require the availability of a production-quality photo-realistic 3D model of…
Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…
Dexterous manipulation has seen remarkable progress in recent years, with policies capable of executing many complex and contact-rich tasks in simulation. However, transferring these policies from simulation to real world remains a…
Adept manipulation of articulated objects is essential for robots to operate successfully in human environments. Such manipulation requires both effectiveness--reliable operation despite uncertain object structures--and efficiency--swift…