Related papers: Detecting Biological Locomotion in Video: A Comput…
We present a method that finds locomanipulation plans that perform simultaneous locomotion and manipulation of objects for a desired end-effector trajectory. Key to our approach is to consider a generic locomotion constraint manifold that…
Orb-weaving spiders primarily sense leg vibrations to detect and locate prey caught on their wheel-shaped webs. Biological experiments and computational modeling elucidated the physics of how these spiders use long-timescale web-building…
Self-propelling organisms locomote via generation of patterns of self-deformation. Despite the diversity of body plans, internal actuation schemes and environments in limbless vertebrates and invertebrates, such organisms often use similar…
Limitations in actuation, sensing, and computation have forced small legged robots to rely on carefully tuned, mechanically mediated leg trajectories for effective locomotion. Recent advances in manufacturing, however, have enabled the…
The levels of agility and flight or swimming performance demonstrated by insects, birds, fish, and even some aquatic invertebrates, are often vastly superior to what even the most advanced human-engineered vehicles operating in the same…
We propose an unsupervised approach for discovering characteristic motion patterns in videos of highly articulated objects performing natural, unscripted behaviors, such as tigers in the wild. We discover consistent patterns in a bottom-up…
Decoding the direction of translating objects in front of cluttered moving backgrounds, accurately and efficiently, is still a challenging problem. In nature, lightweight and low-powered flying insects apply motion vision to detect a moving…
Despite the progress in legged robotic locomotion, autonomous navigation in unknown environments remains an open problem. Ideally, the navigation system utilizes the full potential of the robots' locomotion capabilities while operating…
Humans are able to negotiate downstep behaviors -- both planned and unplanned -- with remarkable agility and ease. The goal of this paper is to systematically study the translation of this human behavior to bipedal walking robots, even if…
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…
Drawing inspiration from flight behavior in biological settings (e.g. territorial battles in dragonflies, and flocking in starlings), this paper demonstrates two strategies for coverage and flocking. Using earlier theoretical studies on…
Objects in videos are typically characterized by continuous smooth motion. We exploit continuous smooth motion in three ways. 1) Improved accuracy by using object motion as an additional source of supervision, which we obtain by…
Many microorganisms swim by performing larger non-reciprocal shape deformations that are initiated locally by molecular motors. However, it remains unclear how decentralized shape control determines the movement of the entire organism.…
This paper studies the problem of detection and tracking of general objects with long-term dynamics, observed by a mobile robot moving in a large environment. A key problem is that due to the environment scale, it can only observe a subset…
Motion segmentation in dynamic scenes is highly challenging, as conventional methods heavily rely on estimating camera poses and point correspondences from inherently noisy motion cues. Existing statistical inference or iterative…
The design of gaits for robot locomotion can be a daunting process which requires significant expert knowledge and engineering. This process is even more challenging for robots that do not have an accurate physical model, such as compliant…
Human locomotion involves continuously variable activities including walking, running, and stair climbing over a range of speeds and inclinations as well as sit-stand, walk-run, and walk-stairs transitions. Understanding the kinematics and…
To proactively navigate and traverse various terrains, active use of visual perception becomes indispensable. We aim to investigate the feasibility and performance of using sparse visual observations to achieve perceptual locomotion over a…
Human gait or walking manner is a biometric feature that allows identification of a person when other biometric features such as the face or iris are not visible. In this paper, we present a new pose-based convolutional neural network model…
The task of action-driven human motion prediction aims to forecast future human motion based on the observed sequence while respecting the given action label. It requires modeling not only the stochasticity within human motion but the…