Related papers: Snake Robot Gait Decomposition and Gait Parameter …
Selecting robot design parameters can be challenging since these parameters are often coupled with the performance of the controller and, therefore, the resulting capabilities of the robot. This leads to a time-consuming and often expensive…
Robotic locomotion often relies on sequenced gaits to efficiently convert control input into desired motion. Despite extensive studies on gait optimization, achieving smooth and efficient gait transitions remains challenging. In this paper,…
Gait recognition is a promising video-based biometric for identifying individual walking patterns from a long distance. At present, most gait recognition methods use silhouette images to represent a person in each frame. However, silhouette…
Gait recognition is a promising biometric with unique properties for identifying individuals from a long distance by their walking patterns. In recent years, most gait recognition methods used the person's silhouette to extract the gait…
This work analyzes the solution trajectory of gradient-based algorithms via a novel basis function decomposition. We show that, although solution trajectories of gradient-based algorithms may vary depending on the learning task, they behave…
Current gait recognition methodologies generally necessitate retraining when encountering new datasets. Nevertheless, retrained models frequently encounter difficulties in preserving knowledge from previous datasets, leading to a…
The Gradient Vector Flow (GVF) is a vector diffusion approach based on Partial Differential Equations (PDEs). This method has been applied together with snake models for boundary extraction medical images segmentation. The key idea is to…
Gait disabilities are among the most frequent worldwide. Their treatment relies on rehabilitation therapies, in which smart walkers are being introduced to empower the user's recovery and autonomy, while reducing the clinicians effort. For…
We classified the decoupled stochastic parallel gradient descent (SPGD) optimization model into two different types: software and hardware decoupling methods. A kind of software decoupling method is then proposed and a kind of hardware…
This paper describes a topological approach to generating families of open- and closed-loop walking gaits for underactuated 2D and 3D biped walkers subject to configuration inequality constraints, physical holonomic constraints…
Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordinate their many degrees-of-freedom to create purposeful…
In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…
Faced with complex and unstructured construction environments, wheeled and tracked robots exhibit significant limitations in terrain adaptability and flexibility, making it difficult to meet the requirements of autonomous operation.…
Which joint interactions in the human gait cycle can be used as biometric characteristics? Most current methods on gait recognition suffer from the lack of interpretability. We propose an interpretable feature representation of gait…
While modular robots offer versatility, excessive joint torque during locomotion poses a significant risk of mechanical failure, especially for detachable joints. To address this, we propose an optimization framework using the NSGA-III…
Inferring future activity information based on observed activity data is a crucial step to improve the accuracy of early activity prediction. Traditional methods based on generative adversarial networks(GAN) or joint learning frameworks can…
Gait recognition from video streams is a challenging problem in computer vision biometrics due to the subtle differences between gaits and numerous confounding factors. Recent advancements in self-supervised pretraining have led to the…
The use of 3D cameras for gait analysis has been highly questioned due to the low accuracy they have demonstrated in the past. The objective of the study presented in this paper is to improve the accuracy of the estimations made by…
The ability to generate robust walking gaits on bipedal robots is key to their successful realization on hardware. To this end, this work extends the method of Hybrid Zero Dynamics (HZD) -- which traditionally only accounts for locomotive…
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…