Related papers: Complementary Dynamics
High degree-of-freedom dual-arm robots are becoming increasingly common due to their morphology enabling them to operate effectively in human environments. However, motion planning in real-time within unknown, changing environments remains…
Multi-objective optimization problems, which require the simultaneous optimization of multiple objectives, are prevalent across numerous applications. Existing multi-objective optimization methods often rely on manually-tuned aggregation…
Field-based reactive control provides a minimalist, decentralized route to guiding robots that lack onboard computation. Such schemes are well suited to resource-limited machines like microrobots, yet implementation artifacts, limited…
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…
Inspired by the necessity of morphological adaptation in animals, a growing body of work has attempted to expand robot training to encompass physical aspects of a robot's design. However, reinforcement learning methods capable of optimizing…
This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with complementarity constraints become useful in this regard.…
Character image animation is gaining significant importance across various domains, driven by the demand for robust and flexible multi-subject rendering. While existing methods excel in single-person animation, they struggle to handle…
Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability and support in complex environments. This paper introduces…
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamicsbased…
Given a frame in a finite dimensional Hilbert space we construct additive perturbations which decrease the condition number of the frame. By iterating this perturbation, we introduce an algorithm that produces a tight frame in a finite…
Humanoid robots are designed to perform diverse loco-manipulation tasks. However, they face challenges due to their high-dimensional and unstable dynamics, as well as the complex contact-rich nature of the tasks. Model-based optimal control…
Robotic manipulation and locomotion often entail nearly-simultaneous collisions -- such as heel and toe strikes during a foot step -- with outcomes that are extremely sensitive to the order in which impacts occur. Robotic simulators…
Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…
Kinematic structures are very common in the real world. They range from simple articulated objects to complex mechanical systems. However, despite their relevance, most model-based 3D tracking methods only consider rigid objects. To…
Legged robots have achieved impressive feats in dynamic locomotion in challenging unstructured terrain. However, in entertainment applications, the design and control of these robots face additional challenges in appealing to human…
This paper addresses the problem of enabling a robot to represent and recreate visual information through physical motion, focusing on drawing using pens, brushes, or other tools. This work uses ergodicity as a control objective that…
In the realm of multimodal data integration, feature alignment plays a pivotal role. This paper introduces an innovative approach to feature alignment that revolutionizes the fusion of multimodal information. Our method employs a novel…
Recently, reinforcement learning has become a promising and polular solution for robot legged locomotion. Compared to model-based control, reinforcement learning based controllers can achieve better robustness against uncertainties of…
We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact is assumed to be a planar non-convex contact patch. The planar non-convex contact patch…
This work presents a novel RGB-D SLAM approach to simultaneously segment, track and reconstruct the static background and large dynamic rigid objects that can occlude major portions of the camera view. Previous approaches treat dynamic…