Related papers: Data-driven Characterization of Human Interaction …
Contact modeling plays a central role in motion planning, simulation, and control of legged robots, as legged locomotion is realized through contact. The two prevailing approaches to model the contact consider rigid and compliant premise at…
Human activity recognition has become an attractive research area with the development of on-body wearable sensing technology. With comfortable electronic-textiles, sensors can be embedded into clothing so that it is possible to record…
Human motion is fundamentally driven by continuous physical interaction with the environment. Whether walking, running, or simply standing, the forces exchanged between our feet and the ground provide crucial insights for understanding and…
This paper presents a human gait data collection for analysis and activity recognition consisting of continues recordings of combined activities, such as walking, running, taking stairs up and down, sitting down, and so on; and the data…
While the use of technology to provide accurate and objective measurements of human movement performance is presently an area of great interest, efforts to quantify the performance of movement are hampered by the lack of a principled model…
The modeling and simulation of coupled neuromusculoskeletal-exoskeletal systems play a crucial role in human biomechanical analysis, as well as in the design and control of exoskeletons. However, conventional dynamic simulation frameworks…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
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…
In this paper, we propose a data-driven approach for control of nonlinear dynamical systems. The proposed data-driven approach relies on transfer Koopman and Perron-Frobenius (P-F) operators for linear representation and control of such…
Stabilizing legged robot locomotion on a dynamic rigid surface (DRS) (i.e., rigid surface that moves in the inertial frame) is a complex planning and control problem. The complexity arises due to the hybrid nonlinear walking dynamics…
We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions…
This paper presents a novel framework for learning robust bipedal walking by combining a data-driven state representation with a Reinforcement Learning (RL) based locomotion policy. The framework utilizes an autoencoder to learn a…
With the rapid development of Aerial Physical Interaction, the possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one of our previous works, we considered one of the first systems in…
Predicting the trajectory of pedestrians in crowd scenarios is indispensable in self-driving or autonomous mobile robot field because estimating the future locations of pedestrians around is beneficial for policy decision to avoid…
In this work, we introduce a novel data-driven model-reference control design approach for unknown linear systems with fully measurable state. The proposed control action is composed by a static feedback term and a reference tracking block,…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…
In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…
We present a real-time pattern generator for dynamic walking over rough terrains. Our method automatically finds step durations, a critical issue over rough terrains where they depend on terrain topology. To achieve this level of…
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…
Gait recognition is the characterization of unique biometric patterns associated with each individual which can be utilized to identify a person without direct contact. A public gait database with a relatively large number of subjects can…