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Gait recognition is one of the most recent emerging techniques of human biometric which can be used for security based purposes having unobtrusive learning method. In comparison with other bio-metrics gait analysis has some special security…
Portable devices like smartphones, tablets, wearable electronic devices, medical implants, wireless sensor nodes, and Internet-of-Things (IoT) devices have tremendous constraints on their energy consumption. Adding more functionalities onto…
This paper deals with stabilization of discrete-time switched linear systems when explicit knowledge of the state-space models of their subsystems is not available. Given the set of admissible switches between the subsystems, the admissible…
We give a complete analysis of low-velocity dynamics close to grazing for a generic one degree of freedom impact oscillator. This includes nondegenerate (quadratic) grazing and minimally degenerate (cubic) grazing, corresponding…
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…
Given a family of systems, identifying stabilizing switching signals in terms of infinite walks constructed by concatenating cycles on the underlying directed graph of a switched system that satisfy certain conditions, is a well-known…
In this paper, we present new incremental algorithms for maintaining data structures that represent all connectivity cuts of size one in directed graphs (digraphs), and the strongly connected components that result by the removal of each of…
Legged robots must adapt their gait to navigate unpredictable environments, a challenge that animals master with ease. However, most deep reinforcement learning (DRL) approaches to quadruped locomotion rely on a fixed gait, limiting…
We study coupled transport in the nonequilibrium stationary state of a model consisting of independent random walkers, moving along a one-dimensional channel, which carry a conserved energy-like quantity, with density and temperature…
In this work, we are interested in structure learning for a set of spatially distributed dynamical systems, where individual subsystems are coupled via latent variables and observed through a filter. We represent this model as a directed…
Gait recognition is a biometric technology that recognizes the identity of humans through their walking patterns. Compared with other biometric technologies, gait recognition is more difficult to disguise and can be applied to the condition…
While deep learning has enabled significant progress in designing general purpose robot grasping systems, there remain objects which still pose challenges for these systems. Recent work on Exploratory Grasping has formalized the problem of…
Non-linear dynamical systems represent a compact, flexible, and robust tool for reactive motion generation. The effectiveness of dynamical systems relies on their ability to accurately represent stable motions. Several approaches have been…
This paper details a series of experiments in searching for minimal energy configurations for knots and links using the computer program KnotPlot. The most interesting phenomena found in these experiments is the dependence of the…
We present an autoencoder-based semi-supervised approach to classify perceived human emotions from walking styles obtained from videos or motion-captured data and represented as sequences of 3D poses. Given the motion on each joint in the…
While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but are not limited to, simplicity, robustness,…
We define and study exact, efficient representations of realization spaces Euclidean Distance Constraint Systems (EDCS), which includes Linkages and Frameworks. Each representation corresponds to a choice of Cayley parameters and yields a…
Recent advancements in gait recognition have significantly enhanced performance by treating silhouettes as either an unordered set or an ordered sequence. However, both set-based and sequence-based approaches exhibit notable limitations.…
Legged robotic systems can play an important role in real-world applications due to their superior load-bearing capabilities, enhanced autonomy, and effective navigation on uneven terrain. They offer an optimal trade-off between mobility…
Gait recognition is an important biometric technique for video surveillance tasks, due to the advantage of using it at distance. In this paper, we present a persistent homology-based method to extract topological features (the so-called…