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Response delay is an inherent and essential part of human actions. In the context of human balance control, the response delay is traditionally modeled using the formalism of delay-differential equations, which adopts the approximation of…
Although robots with flexible bodies are superior in terms of the contact and adaptability, it is difficult to control them precisely. On the other hand, human beings make use of the surrounding environments to stabilize their bodies and…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
This work proposes a new kinematics of a myoelectric hand prosthesis with a single actuator, allowing to realize the tridigital grip but also the lateral grip. Inspired by tridigital prostheses, which are simpler, more robust and less…
This paper proposes a novel sequence-to-sequence (seq2seq) model with a musical note position-aware attention mechanism for singing voice synthesis (SVS). A seq2seq modeling approach that can simultaneously perform acoustic and temporal…
This paper introduces the ACCompanion, an expressive accompaniment system. Similarly to a musician who accompanies a soloist playing a given musical piece, our system can produce a human-like rendition of the accompaniment part that follows…
Some biological systems operate at the critical point between stability and instability and this requires a fine-tuning of parameters. We bring together two examples from the literature that illustrate this: neural integration in the…
We present a novel haptic teleoperation approach that considers not only the safety but also the stability of a teleoperation system. Specifically, we build upon previous work on haptic shared control, which uses control barrier functions…
The controllability problem for nonlinear control systems with one-dimensional control of the form $ dx/dt=a(x)+B(x)\beta(x,u)$ is considered, where $a(x)$ is an $n$-dimensional vector function, $B(x)$ is an $(n\times m)$-matrix, and…
While end-to-end lyrics-to-song models offer convenience for casual users, professional songwriters require score-to-song systems that allow them to retain authorship over the core melody. However, existing score-to-song methods are limited…
This paper proposes an expressive singing voice synthesis system by introducing explicit vibrato modeling and latent energy representation. Vibrato is essential to the naturalness of synthesized sound, due to the inherent characteristics of…
Generating multi-instrument music from symbolic music representations is an important task in Music Information Retrieval (MIR). A central but still largely unsolved problem in this context is musically and acoustically informed control in…
Motion controllability is crucial in video synthesis. However, most previous methods are limited to single control types, and combining them often results in logical conflicts. In this paper, we propose a disentangled and unified framework,…
People naturally conduct spontaneous body motions to enhance their speeches while giving talks. Body motion generation from speech is inherently difficult due to the non-deterministic mapping from speech to body motions. Most existing works…
Recent years have witnessed a growing interest in research related to the detection of piano pedals from audio signals in the music information retrieval community. However, to our best knowledge, recent generative models for symbolic music…
While modeling multi-contact manipulation as a quasi-static mechanical process transitioning between different contact equilibria, we propose formulating it as a planning and optimization problem, explicitly evaluating (i) contact stability…
This paper addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system remains safe despite bounded disturbances on the system…
This article studies the dynamics and control of a novel underactuated system, wherein a plate suspended by cables and with a freely moving mass on top, whose other ends are attached to three quadrotors, is sought to be horizontally…
In many embedded real-time systems, applications often interact with I/O devices via read/write operations, which may incur considerable suspension delays. Unfortunately, prior analysis methods for validating timing correctness in embedded…
In this contribution, we will discuss a prototype that allows a group of users to design sound collaboratively in real time using a multi-touch tabletop. We make use of a machine learning method to generate a mapping from perceptual audio…