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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,…
Gait recognition, a fundamental biometric technology, leverages unique walking patterns for individual identification, typically using 2D representations such as silhouettes or skeletons. However, these methods often struggle with viewpoint…
Gait, as one of unique biometric features, has the advantage of being recognized from a long distance away, can be widely used in public security. Considering 3D pose estimation is more challenging than 2D pose estimation in practice , we…
Time-discrete dynamical systems on a finite state space have been used with great success to model natural and engineered systems such as biological networks, social networks, and engineered control systems. They have the advantage of being…
Lattice gauge theories (LGTs) can be employed to understand a wide range of phenomena, from elementary particle scattering in high-energy physics to effective descriptions of many-body interactions in materials. Studying dynamical…
The human gait is a complex interplay between the neuronal and the muscular systems, reflecting an individual's neurological and physiological condition. This makes gait analysis a valuable tool for biomechanics and medical experts.…
Many forms of locomotion, both natural and artificial, are dominated by viscous friction in the sense that without power expenditure they quickly come to a standstill. From geometric mechanics, it is known that for swimming at the…
Piezoelectric energy harvester, which generates electricity from stress or vibrations, is gaining increasing attention as a viable solution to extend battery life in wearables. Recent research further reveals that, besides generating…
In this paper, we introduce ergodic sets, subsets of nodes of the networks that are dynamically disjoint from the rest of the network (i.e. that can never be reached or left following to the network dynamics). We connect their definition to…
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…
Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient locomotion on various terrains and velocities. While…
Gait, the manner of walking, has been proven to be a reliable biometric with uses in surveillance, marketing and security. A promising new direction for the field is training gait recognition systems without explicit human annotations,…
Despite the extensive presence of the legged locomotion in animals, it is extremely challenging to be reproduced with robots. Legged locomotion is an dynamic task which benefits from a planning that takes advantage of the gravitational pull…
We study dissipative dynamics constructed by means of non-commutative Dirichlet forms for various lattice systems with multiparticle interactions associated to CCR algebras. We give a number of explicit examples of such models. Using an…
Interacting Growth Walks is a recently proposed stochastic model for studying the coil-globule transition of linear polymers. We propose a flat energy histogram version for Interacting Growth Walk. We demonstrate the algorithm on two…
Many real-world walking scenarios contain obstacles and unsafe ground patches (e.g., slippery or cluttered areas), leaving a disconnected set of admissible footholds that can be modeled as stepping-stone-like regions. We propose an onboard,…
Deep generative networks have been widely used for learning mappings from a low-dimensional latent space to a high-dimensional data space. In many cases, data transformations are defined by linear paths in this latent space. However, the…
We investigate dynamics of large scale and slow deformations of layered structures. Starting from the respective model equations for a non-conserved system, a conserved system and a binary fluid, we derive the interface equations which are…
Random matrix theory yields valuable insights into the universal features of quantum many-body chaotic systems. Although all-to-all interactions are traditionally studied, many interesting dynamical questions, such as transport of a…
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…