Related papers: Snake Robot Gait Decomposition and Gait Parameter …
In this paper we propose a method for computing the contour of an object in an image using a snake represented as a subdivision curve. The evolution of the snake is driven by its control points which are computed minimizing an energy that…
With the prevalence of accessible depth sensors, dynamic human body skeletons have attracted much attention as a robust modality for action recognition. Previous methods model skeletons based on RNN or CNN, which has limited expressive…
Geometric motion planning offers effective and interpretable gait analysis and optimization tools for locomoting systems. However, due to the curse of dimensionality in coordinate optimization, a key component of geometric motion planning,…
Controlling a biped robot to walk stably is a challenging task considering its nonlinearity and hybrid dynamics. Reinforcement learning can address these issues by directly mapping the observed states to optimal actions that maximize the…
This paper introduces a new method for minimizing matrix-smooth non-convex objectives through the use of novel Compressed Gradient Descent (CGD) algorithms enhanced with a matrix-valued stepsize. The proposed algorithms are theoretically…
Walking motion planning based on Divergent Component of Motion (DCM) and Linear Inverted Pendulum Model (LIPM) is one of the alternatives that could be implemented to generate online humanoid robot gait trajectories. This algorithm requires…
Snake robots have been studied for decades with the aim of achieving biological snakes' fluent locomotion. Yet, as of today, their locomotion remains far from that of the biological snakes. Our recent study suggested that snake locomotion…
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…
Freezing of gait (FOG) is a common and debilitating gait impairment in Parkinson's disease. Further insight into this phenomenon is hampered by the difficulty to objectively assess FOG. To meet this clinical need, this paper proposes an…
Dynamic maneuvers for legged robots present a difficult challenge due to the complex dynamics and contact constraints. This paper introduces a versatile trajectory optimization framework for continuous-time multi-phase problems. We…
Snake robots are inspired by the ability of biological snakes to move over rock, grass, leaves, soil, up trees, along pavement and more. Their ability to move in multiple distinct environments is due to their legless locomotion strategy,…
Miniature-legged robots are constrained by their onboard computation and control, thus motivating the need for simple, first-principles-based geometric models that connect \emph{periodic actuation or gaits} (a universal robot control…
Predicting lower limb motion intent is vital for controlling exoskeleton robots and prosthetic limbs. Surface electromyography (sEMG) attracts increasing attention in recent years as it enables ahead-of-time prediction of motion intentions…
Humans are efficient, yet expressive in their motion. Human walking behaviors can be used to walk across a great variety of surfaces without falling and to communicate internal state to other humans through variable gait styles. This…
Existing studies for gait recognition are dominated by 2D representations like the silhouette or skeleton of the human body in constrained scenes. However, humans live and walk in the unconstrained 3D space, so projecting the 3D human body…
This paper presents a method which can track and 3D reconstruct the non-rigid surface motion of human performance using a moving RGB-D camera. 3D reconstruction of marker-less human performance is a challenging problem due to the large…
Asynchronous parallel optimization algorithms for solving large-scale machine learning problems have drawn significant attention from academia to industry recently. This paper proposes a novel algorithm, decoupled asynchronous proximal…
Step adjustment for humanoid robots has been shown to improve robustness in gaits. However, step duration adaptation is often neglected in control strategies. In this paper, we propose an approach that combines both step location and timing…
Gait analysis using computer vision is an emerging field in AI, offering clinicians an objective, multi-feature approach to analyse complex movements. Despite its promise, current applications using RGB video data alone are limited in…
Gait recognition has emerged as a robust biometric modality due to its non-intrusive nature. Conventional gait recognition methods mainly rely on silhouettes or skeletons. While effective in controlled laboratory settings, their limited…