Related papers: Functionality-Driven Musculature Retargeting
This work targets a novel text-driven whole-body motion generation task, which takes a given textual description as input and aims at generating high-quality, diverse, and coherent facial expressions, hand gestures, and body motions…
Coordinated human movement depends on the integration of multisensory inputs, sensorimotor transformation, and motor execution, as well as sensory feedback resulting from body-environment interaction. Building dynamic models of the…
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…
Probabilistic human motion prediction aims to forecast multiple possible future movements from past observations. While current approaches report high diversity and realism, they often generate motions with undetected limb stretching and…
Well-fitted clothing is essential for both real and virtual garments to enable self-expression and accurate representation for a large variety of body types. Common practice in the industry is to provide a pre-made selection of distinct…
Markerless motion capture algorithms require a 3D body with properly personalized skeleton dimension and/or body shape and appearance to successfully track a person. Unfortunately, many tracking methods consider model personalization a…
The musculoskeletal humanoid has various biomimetic benefits, and the redundant muscle arrangement is one of its most important characteristics. This redundancy can achieve fail-safe redundant actuation and variable stiffness control.…
In this paper, we introduce DynaRetarget, a complete pipeline for retargeting human motions to humanoid control policies. The core component of DynaRetarget is a novel Sampling-Based Trajectory Optimization (SBTO) framework that refines…
Reconfigurable robots that can change their physical configuration post-fabrication have demonstrate their potential in adapting to different environments or tasks. However, it is challenging to determine how to optimally adjust…
We have developed a simulation technique that uses non-linear finite element analysis and elastic fracture mechanics to compute physically plausible motion for three-dimensional, solid objects as they break, crack, or tear. When these…
We present a novel system for camera-based measurement and visualization of muscle work based on the Hill-Type-Muscle-Model: the exercise exertion muscle-work monitor (\textit{XEM}$^{2}$). Our aim is to complement and, thus, address issues…
In articular cartilage the orientation of collagen fibres is not uniform, varying mostly with the depth on the tissue. Besides, the biomechanical response of each layer of the articular cartilage differs from the neighbouring ones, evolving…
Although we can measure muscle activity and analyze their activation patterns, we understand little about how individual muscles affect the joint torque generated. It is known that they are controlled by circuits in the spinal cord, a…
This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the perspective of biomechanics. Based on these mechanisms, we…
The primary goal of skeletal motion prediction is to generate future motion by observing a sequence of 3D skeletons. A key challenge in motion prediction is the fact that a motion can often be performed in several different ways, with each…
Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…
Many works in robot teaching either focus only on teaching task knowledge, such as geometric constraints, or motion knowledge, such as the motion for accomplishing a task. However, to effectively teach a complex task sequence to a robot, it…
Model merging aims to build a multi-task learner by combining the parameters of individually fine-tuned models without additional training. While a straightforward approach is to average model parameters across tasks, this often results in…
Manipulating an articulated object requires perceiving itskinematic hierarchy: its parts, how each can move, and howthose motions are coupled. Previous work has explored per-ception for kinematics, but none infers a complete…