Related papers: Real-Time Locomotion on Soft Grounds With Dynamic …

Ground reaction forces (GRFs) provide fundamental insight into human gait mechanics and are widely used to assess joint loading, limb symmetry, balance control, and motor function. Despite their clinical relevance, the use of GRF remains…

In many systems motion occurs on deformed and deformable surfaces, setting up the possibility for dynamical interactions solely mediated by the coupling of the entities with their environment. Here we study the "two-body" dynamics of robot…

In this paper we present FootTile, a foot sensor for reaction force and center of pressure sensing in challenging terrain. We compare our sensor design to standard biomechanical devices, force plates and pressure plates. We show that…

In-situ robotic exploration is an important tool for advancing knowledge of geological processes that describe the Earth and other Planetary bodies. To inform and enhance operations for these roving laboratories, it is imperative to…

Human walkers traverse diverse environments and demonstrate different gait locomotion and energy cost on granular terrains compared to solid ground. We present a stiffness-based model predictive control approach of knee exoskeleton…

Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…

In this paper, we present a novel control architecture for the online adaptation of bipedal locomotion on inclined obstacles. In particular, we introduce a novel, cost-effective, and versatile foot sensor to detect the proximity of the…

Dynamic bipedal walking on discrete terrain, like stepping stones, is a challenging problem requiring feedback controllers to enforce safety-critical constraints. To enforce such constraints in real-world experiments, fast and accurate…

Body dynamics are crucial information for the analysis of human motions in important research fields, ranging from biomechanics, sports science to computer vision and graphics. Modern approaches collect the body dynamics, external reactive…

Real-time character animation in dynamic environments requires the generation of plausible upper-body movements regardless of the nature of the environment, including non-rigid obstacles such as vegetation. We propose a flexible model for…

In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that…

Biped robots have plenty of benefits over wheeled, quadruped, or hexapod robots due to their ability to behave like human beings in tough and non-flat environments. Deformable terrain is another challenge for biped robots as it has to deal…

The theories of aero- and hydrodynamics predict animal movement and device design in air and water through the computation of lift, drag, and thrust forces. Although models of terrestrial legged locomotion have focused on interactions with…

Walking is among the most common human activities where the feet can gather rich tactile information from the ground. The dynamic contact between the feet and the ground generates vibration signals that can be sensed by the foot skin. While…

Locomotion gaits are fundamental for control of soft terrestrial robots. However, synthesis of these gaits is challenging due to modeling of robot-environment interaction and lack of a mathematical framework. This work presents an…

Legged robot locomotion on sand slopes is challenging due to the complex dynamics of granular media and how the lack of solid surfaces can hinder locomotion. A promising strategy, inspired by ghost crabs and other organisms in nature, is to…

We propose a generative approach to physics-based motion capture. Unlike prior attempts to incorporate physics into tracking that assume the subject and scene geometry are calibrated and known a priori, our approach is automatic and online.…

Foot contact plays a critical role in human interaction with the world, and thus exploring foot contact can advance our understanding of human movement and physical interaction. Despite its importance, existing methods often approximate…

This paper presents a method for pose estimation of off-road vehicles moving over uneven terrain. It determines the contact points between the wheels and the terrain, assuming rigid contacts between an arbitrary number of wheels and ground.…

Controlling the manner in which a character moves in a real-time animation system is a challenging task with useful applications. Existing style transfer systems require access to a reference content motion clip, however, in real-time…