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Human-robot physical interaction contains crucial information for optimizing user experience, enhancing robot performance, and objectively assessing user adaptation. This study introduces a new method to evaluate human-robot co-adaptation…

Unsupervised generation of 3D-aware clothed humans with various appearances and controllable geometries is important for creating virtual human avatars and other AR/VR applications. Existing methods are either limited to rigid object…

Humanoid robots are envisioned to adapt demonstrated motions to diverse real-world conditions while accurately preserving motion patterns. Existing motion prior approaches enable well adaptability with a few motions but often sacrifice…

Generating vivid and emotional 3D co-speech gestures is crucial for virtual avatar animation in human-machine interaction applications. While the existing methods enable generating the gestures to follow a single emotion label, they…

This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two legs, and passive (unactuated) point feet. The contact between…

Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…

This study mainly explores the application of natural gesture recognition based on computer vision in human-computer interaction, aiming to improve the fluency and naturalness of human-computer interaction through gesture recognition…

Despite major advancements in control design that are robust to unplanned disturbances, bipedal robots are still susceptible to falling over and struggle to negotiate rough terrains. By utilizing thrusters in our bipedal robot, we can…

Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP)…

Unsupervised generation of clothed virtual humans with various appearance and animatable poses is important for creating 3D human avatars and other AR/VR applications. Existing methods are either limited to rigid object modeling, or not…

Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…

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…

Bipedal balance is challenging due to its multi-phase, hybrid nature and high-dimensional state space. Traditional balance control approaches for bipedal robots rely on low-dimensional models for locomotion planning and reactive control,…

This work presents a hierarchical framework for bipedal locomotion that combines a Reinforcement Learning (RL)-based high-level (HL) planner policy for the online generation of task space commands with a model-based low-level (LL)…

This paper proposes a novel application system for the generation of three-dimensional (3D) character animation driven by markerless human body motion capturing. The entire pipeline of the system consists of five stages: 1) the capturing of…

We present a method and application for animating a human subject from a single photo. E.g., the character can walk out, run, sit, or jump in 3D. The key contributions of this paper are: 1) an application of viewing and animating humans in…

Reducing the complexity of higher order problems can enable solving them in analytical ways. In this paper, we propose an analytic whole body motion generator for humanoid robots. Our approach targets inexpensive platforms that possess…

In this research, we have developed the data driven computational walking model to overcome the problem with traditional kinematics based model. Our model is adaptable and can adjust the parameter morphological similar to human. The human…

Balancing is a fundamental need for legged robots due to their unstable floating-base nature. Balance control has been thoroughly studied for simple models such as the linear inverted pendulum thanks to the concept of the instantaneous…

This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aerial platform consists of a humanoid torso attached to a…