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Humans experience small fluctuations in their gait when walking on uneven terrain. The fluctuations deviate from the steady, energy-minimizing pattern for level walking, and have no obvious organization. But humans often look ahead when…
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…
The biomechanics of the human body gives subjects a high degree of freedom in how they can execute movement. Nevertheless, subjects exhibit regularity in their movement patterns. One way to account for this regularity is to suppose that…
Predicting human mobility is crucial for urban planning, traffic control, and emergency response. Mobility behaviors can be categorized into individual and collective, and these behaviors are recorded by diverse mobility data, such as…
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…
Human movement prediction is difficult as humans naturally exhibit complex behaviors that can change drastically from one environment to the next. In order to alleviate this issue, we propose a prediction framework that decouples short-term…
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…
Predicting human motion in unstructured and dynamic environments is difficult as humans naturally exhibit complex behaviors that can change drastically from one environment to the next. In order to alleviate this issue, we propose to encode…
The problem of navigating a bipedal robot to a desired destination in various environments is very important. However, it is very difficult to solve the navigation problem in real time because the computation time is very long due to the…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
Navigating an environment with uncertain connectivity requires a strategic balance between minimizing the cost of traversal and seeking information to resolve map ambiguities. Unlike previous approaches that rely on local sensing, we…
When navigating complex environments, animals often combine multiple strategies to mitigate the effects of external disturbances. These modalities often correspond to different sources of information, leading to speed-accuracy trade-offs.…
General models of network navigation must contain a deterministic or drift component, encouraging the agent to follow routes of least cost, as well as a random or diffusive component, enabling free wandering. This paper proposes a…
A human is a thing that moves in space. Like all things that move in space, we can in principle use differential equations to describe their motion as a set of functions that maps time to position (and velocity, acceleration, and so on).…
Walking motion planning based on Divergent Component of Motion (DCM) and Linear Inverted Pendulum Model (LIPM) is one of the alternatives that could be implemented to generate online humanoid robot gait trajectories. This algorithm requires…
A key challenge in off-road navigation is that even visually similar terrains or ones from the same semantic class may have substantially different traction properties. Existing work typically assumes no wheel slip or uses the expected…
To enable safe and efficient human-robot collaboration in shared workspaces it is important for the robot to predict how a human will move when performing a task. While predicting human motion for tasks not known a priori is very…
Human mobility is investigated using a continuum approach that allows to calculate the probability to observe a trip to anyarbitrary region, and the fluxes between any two regions. The considered description offers a general and unified…
In literature, scientists describe human mobility in a range of granularities by several different models. Using frameworks like MATSIM, VehiLux, or Sumo, they often derive individual human movement indicators in their most detail. However,…
Human mobility prediction is vital for urban planning, transportation optimization, and personalized services. However, the inherent randomness, non-uniform time intervals, and complex patterns of human mobility, compounded by the…