Related papers: BRG.LifeMOD$^{TM}$ modeling and simulation of swim…
Swimming consists by definition in propelling through a fluid by means of bodily movements. Thus, from a mathematical point of view, swimming turns into a control problem for which the controls are the deformations of the swimmer. The aim…
Grasping manipulation is a fundamental mode for human interaction with daily life objects. The synthesis of grasping motion is also greatly demanded in many applications such as animation and robotics. In objects grasping research field,…
We introduce HuMoR: a 3D Human Motion Model for Robust Estimation of temporal pose and shape. Though substantial progress has been made in estimating 3D human motion and shape from dynamic observations, recovering plausible pose sequences…
We address the problem of controlling a dynamical system governing the motion of a 3D weighted shape changing body swimming in a perfect fluid. The rigid displacement of the swimmer results from the exchange of momentum between prescribed…
Electromyography (EMG) data has been extensively adopted as an intuitive interface for instructing human-robot collaboration. A major challenge of the real-time detection of human grasp intent is the identification of dynamic EMG from hand…
We study the local controllability properties of 2D and 3D bio-mimetic swimmers employing the change of their geometric shape to propel themselves in an incompressible fluid described by Navier-Stokes equations. It is assumed that swimmers'…
Fishes, cetaceans, and many other aquatic vertebrates undulate their bodies to propel themselves through water. Swimming requires an intricate interplay between sensing the environment, making decisions, controlling internal dynamics, and…
3D Human body pose and shape estimation within a temporal sequence can be quite critical for understanding human behavior. Despite the significant progress in human pose estimation in the recent years, which are often based on single images…
We employ three numerical methods to explore the motion of low Reynolds number swimmers, modeling the hydrodynamic interactions by means of the Oseen tensor approximation, lattice Boltzmann simulations and multiparticle collision dynamics.…
The connection between swimming and control theory is attracting increasing attention in the recent literature. Starting from an idea of Alberto Bressan [7] we study the system of a planar body whose position and shape are described by a…
Microswimmers play an important role in shaping the world around us. The squirmer is a simple model for microswimmer whose cilia oscillations on its spherical surface induce an effective slip velocity to propel itself. The rapid development…
We propose a method to build in real-time animated 3D head models using a consumer-grade RGB-D camera. Our proposed method is the first one to provide simultaneously comprehensive facial motion tracking and a detailed 3D model of the user's…
Elongate animals and robots use undulatory body waves to locomote through diverse environments. Geometric mechanics provides a framework to model and optimize such systems in highly damped environments, connecting a prescribed shape change…
Computational models of aquatic locomotion range from individual modest simple swimmers in 2D to sophisticated 3D individual swimmers to complex multi-swimmer models that attempt to parse collective behavioral dynamics. Each of these models…
Training computers to understand, model, and synthesize human grasping requires a rich dataset containing complex 3D object shapes, detailed contact information, hand pose and shape, and the 3D body motion over time. While "grasping" is…
We propose a minimal model of microswimmer based on immersed boundary methods. We describe a swimmer (either pusher or puller) as a distribution of point forces, representing the swimmer's flagellum and body, with only the latter subjected…
In this article, we consider a swimmer (i.e. a self-deformable body) immersed in a fluid, the flow of which is governed by the stationary Stokes equations. This model is relevant for studying the locomotion of microorganisms or micro robots…
This paper investigates training better visual world models for robot manipulation, i.e., models that can predict future visual observations by conditioning on past frames and robot actions. Specifically, we consider world models that…
Upper limb and hand functionality is critical to many activities of daily living and the amputation of one can lead to significant functionality loss for individuals. From this perspective, advanced prosthetic hands of the future are…
Designing egocentric 3D hand pose estimation systems that can perform reliably in complex, real-world scenarios is crucial for downstream applications. Previous approaches using RGB or NIR imagery struggle in challenging conditions: RGB…