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Optimization of energy cost determines average values of spatio-temporal gait parameters such as step duration, step length or step speed. However, during walking, humans need to adapt these parameters at every step to respond to exogenous…
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…
Human crowd simulation in virtual reality (VR) is a powerful tool with potential applications including emergency evacuation training and assessment of building layout. While haptic feedback in VR enhances immersive experience, its effect…
Humans excel at robust bipedal walking in complex natural environments. In each step, they adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to be robust against uncertainties in ground conditions.…
Robust locomotion control depends on accurate state estimations. However, the sensors of most legged robots can only provide partial and noisy observations, making the estimation particularly challenging, especially for external states like…
A large-scale mobile robot (LSMR) is a high-order multibody system that often operates on loose, unconsolidated terrain, which reduces traction. This paper presents a comprehensive navigation and control framework for an LSMR that ensures…
Generalizable humanoid loco-manipulation poses significant challenges, requiring coordinated whole-body control and precise, contact-rich object manipulation. To address this, this paper introduces HOMIE, a semi-autonomous teleoperation…
As virtual reality gains popularity, the demand for controllable creation of immersive and dynamic omnidirectional videos (ODVs) is increasing. While previous text-to-ODV generation methods achieve impressive results, they struggle with…
Humanoid robots have great potential for real-world applications due to their ability to operate in environments built for humans, but their deployment is hindered by the challenge of controlling their underlying high-dimensional nonlinear…
Miniature locomotion robots with the ability to navigate confined environments show great promise for a wide range of tasks, including search and rescue operations. Soft miniature locomotion robots, as a burgeoning field, have attracted…
High-dimensional quantum systems leverage an expanded Hilbert space to enhance resilience against decoherence and noise. However, standard quantum teleportation is fundamentally limited by the quadratic growth of measurement complexity and…
This paper presents a hierarchical control framework that enables robust quadrupedal locomotion on a dynamic rigid surface (DRS) with general and unknown vertical motions. The key novelty of the framework lies in its higher layer, which is…
Musculoskeletal modeling and simulations enable the accurate description and analysis of the movement of biological systems with applications such as rehabilitation assessment, prosthesis, and exoskeleton design. However, the widespread…
HOLONOMY is a virtual environment based on the mathematical concept of hyperbolic geometry. Unlike other environments, HOLONOMY allows users to seamlessly explore an infinite hyperbolic space by physically walking. They use their body as…
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…
Clinical tracking systems are popular but typically require specific tracking markers. During the last years, scanning speed of optical coherence tomography (OCT) has increased to A-scan rates above 1 MHz allowing to acquire volume scans of…
Omni-directional mobile robot (OMR) systems have been very popular in academia and industry for their superb maneuverability and flexibility. Yet their potential has not been fully exploited, where the extra degree of freedom in OMR can…
We propose a novel design of a parallel manipulator of Stewart Gough type for virtual reality application of single individuals; i.e. an omni-directional treadmill is mounted on the motion platform in order to improve VR immersion by giving…
Among small-scale mobile robots, multi-modal locomotion can help compensate for limited actuator capabilities. However, supporting multiple locomotion modes or gaits in small terrestrial robots typically requires complex designs with low…