Related papers: Soft Walks: Real-Time, Two-Ways Interaction betwee…
Traversing risky terrains with sparse footholds presents significant challenges for legged robots, requiring precise foot placement in safe areas. To acquire comprehensive exteroceptive information, prior studies have employed motion…
Prediction of human motions is key for safe navigation of autonomous robots among humans. In cluttered environments, several motion hypotheses may exist for a pedestrian, due to its interactions with the environment and other pedestrians.…
Animals in nature combine multiple modalities, such as sight and feel, to perceive terrain and develop an understanding of how to walk on uneven terrain in a stable manner. Similarly, legged robots need to develop their ability to stably…
Many animals, modern aircraft, and underwater vehicles use streamlined body shapes that reduce fluid dynamic drag to achieve fast and effective locomotion in air and water. Similarly, numerous small terrestrial animals move through…
Effective locomotion in nature happens by transitioning across multiple modes (e.g., walk, run, climb). Despite this, far more mechanistic understanding of terrestrial locomotion has been on how to generate and stabilize around…
The objective of the system presented in this paper is to give users tactile feedback while walking in a virtual world through an anthropomorphic finger motion interface. We determined that the synchrony between the first person perspective…
An effective 3D stepping control algorithm that is computationally fast, robust, and easy to implement is extremely important and valuable to character animation research. In this paper, we present a novel technique for generating dynamic,…
One of the most efficient ways of generating goal-directed walking motions is synthesising the final motion based on footprints. Nevertheless, current implementations have not examined the generation of continuous motion based on…
Existing motion generation methods based on mocap data are often limited by data quality and coverage. In this work, we propose a framework that generates diverse, physically feasible full-body human reaching and grasping motions using only…
Character posing is of interest in computer animation. It is difficult due to its dependence on inverse kinematics (IK) techniques and articulate property of human characters . To solve the IK problem, classical methods that rely on…
Ultra-dense crowds, in which physical contact between people cannot be avoided, pose major safety concerns. Nevertheless, the underlying dynamics driving their collective behaviours remain poorly understood. Existing dense crowd models,…
Soft slender structures are ubiquitous in natural and artificial systems and can be observed at scales that range from the nanometric to the kilometric, from polymers to space tethers. We present a practical numerical approach to simulate…
For full-size humanoid robots, even with recent advances in reinforcement learning-based control, achieving reliable locomotion on complex terrains, such as long staircases, remains challenging. In such settings, limited perception,…
Inspired by the digital twinning systems, a novel real-time digital double framework is developed to enhance robot perception of the terrain conditions. Based on the very same physical model and motion control, this work exploits the use of…
Deformable linear objects (e.g., cables, ropes, and threads) commonly appear in our everyday lives. However, perception of these objects and the study of physical interaction with them is still a growing area. There have already been…
Controlling the manner in which a character moves in a real-time animation system is a challenging task with useful applications. Existing style transfer systems require access to a reference content motion clip, however, in real-time…
Using virtual reality setups, users can fade out of their surroundings and dive fully into a thrilling and appealing virtual environment. The success of such immersive experiences depends heavily on natural and engaging interactions with…
In this article, we propose a deep learning framework that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation accomplishes to accurately and robustly estimate the contact…
This paper investigates how learning can be used to ease the design of high-quality paths for the assembly of deformable objects. Object dynamics plays an important role when manipulating deformable objects; thus, detailed models are often…
Real-time animation of virtual characters has traditionally been accomplished by playing short sequences of animations structured in the form of a graph. These methods are time-consuming to set up and scale poorly with the number of motions…