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We present the KinoDynamic Motion Retargeting (KDMR) framework, a novel approach for humanoid locomotion that models the retargeting process as a multi-contact, whole-body trajectory optimization problem. Conventional kinematics-based…
Virtual reality (VR) allows users to see and manipulate virtual scenes and items through input devices, like head-mounted displays. In this study, the effects of button size, spacing, and depth on the usability of virtual buttons in VR…
This work presents the design, build, control, and preliminary user data of a locomotion interface called ForceBot. It delivers lower-body haptic interaction in virtual reality (VR), enabling users to walk in VR while interacting with…
A robot simulation system is a basic need for any robotics application. With it, developers' teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. However,…
Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging…
Seated VR locomotion in constrained environments, including homes, offices, and transit settings, calls for hardware that is lightweight and deployable, steering that remains continuous enough for curved motion, and a control channel that…
Locomotion is one of the most essential interaction tasks in virtual reality (VR) with teleportation being widely accepted as the state-of-the-art locomotion technique at the time of this writing. A major draw-back of teleportation is the…
Globally consistent dense maps are a key requirement for long-term robot navigation in complex environments. While previous works have addressed the challenges of dense mapping and global consistency, most require more computational…
Modeling and control of the human musculoskeletal system is important for understanding human motor functions, developing embodied intelligence, and optimizing human-robot interaction systems. However, current human musculoskeletal models…
Although route and exit choice in complex buildings are important aspects of pedestrian behaviour, studies predominantly investigated pedestrian movement in a single level. This paper presents an innovative VR tool that was designed to…
Wheeled-legged robots combine the efficiency of wheels with the versatility of legs, but face significant energy optimization challenges when navigating diverse environments. In this work, we present a hierarchical control framework that…
A major challenge to understanding locomotion in complex 3-D terrain with large obstacles is to create tools for controlled, systematic lab experiments. Existing terrain arenas only allow observations at small spatiotemporal scales (~10…
Omnidirectional micro aerial vehicles (OMAVs) are more capable of doing environmentally interactive tasks due to their ability to exert full wrenches while maintaining stable poses. However, OMAVs often incorporate additional actuators and…
This work presents an extended framework for learning-based bipedal locomotion that incorporates a heuristic step-planning strategy guided by desired torso velocity tracking. The framework enables precise interaction between a humanoid…
High Quality Mobile Virtual Reality (VR) is what the incoming graphics technology era demands: users around the world, regardless of their hardware and network conditions, can all enjoy the immersive virtual experience. However, the…
In this paper, we present an integrated human-in-the-loop simulation paradigm for the design and evaluation of a lower extremity exoskeleton that is elastically strapped onto human lower limbs. The exoskeleton has 3 rotational DOFs on each…
Low carrier mobility and high electrical contact resistance are two major obstacles prohibiting explorations of quantum transport in TMDCs. Here, we demonstrate an effective method to establish low-temperature Ohmic contacts in boron…
Many graph processing algorithms require determination of shortest-path distances between arbitrary numbers of node pairs. Since computation of exact distances between all node-pairs of a large graph, e.g., 10M nodes and up, is…
Developing an organoid computing platform from neurons in vitro demands stable, precisely controlled microenvironments. To address this requirement, we designed, simulated, and fabricated a microfluidic device featuring hexagonal wells…
Last decades of humanoid research has shown that humanoids developed for high dynamic performance require a stiff structure and optimal distribution of mass--inertial properties. Humanoid robots built with a purely tree type architecture…