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Inertial Measurement Units (IMUs) enable portable, multibody motion capture (MoCap) in diverse environments beyond the laboratory, making them a practical choice for diagnosing mobility disorders and supporting rehabilitation in clinical or…
Achieving stable and robust perceptive locomotion for bipedal robots in unstructured outdoor environments remains a critical challenge due to complex terrain geometry and susceptibility to external disturbances. In this work, we propose a…
Animals achieve energy-efficient locomotion by their implicit passive dynamics, a marvel that has captivated roboticists for decades.Recently, methods incorporated Adversarial Motion Prior (AMP) and Reinforcement learning (RL) shows…
The literature on Inverse Reinforcement Learning (IRL) typically assumes that humans take actions in order to minimize the expected value of a cost function, i.e., that humans are risk neutral. Yet, in practice, humans are often far from…
The semiconductor industry is one of the most technology-evolving and capital-intensive market sectors. Effective inspection and metrology are necessary to improve product yield, increase product quality and reduce costs. In recent years,…
Accurately modeling the friction torque in robotic joints has long been challenging due to the request for a robust mathematical description. Traditional model-based approaches are often labor-intensive, requiring extensive experiments and…
We propose a new parametrization for the estimation and identification of the impulse-response functions (IRFs) of dynamic factor models (DFMs). The theoretical contribution of this paper concerns the problem of observational equivalence…
As the demand for mobile robots continues to increase, social navigation has emerged as a critical task, driving active research into deep reinforcement learning (RL) approaches. However, because pedestrian dynamics and social conventions…
Metabolic energy consumption of a powered lower-limb exoskeleton user mainly comes from the upper body effort since the lower body is considered to be passive. However, the upper body effort of the users is largely ignored in the literature…
Inverse reinforcement learning (IRL) usually assumes the reward function model is pre-specified as a weighted sum of features and estimates the weighting parameters only. However, how to select features and determine a proper reward model…
Moment-based estimation is a theoretically attractive approach to parametric inference, especially when likelihood-based estimation is unavailable, misspecified, or computationally inconvenient. However, the moment equations involve sample…
Deep learning (DL) methods have emerged as a powerful tool for the inversion of geophysical data. When applied to field data, these models often struggle without additional fine-tuning of the network. This is because they are built on the…
Visual-inertial sensors have a wide range of applications in robotics. However, good performance often requires different sophisticated motion routines to accurately calibrate camera intrinsics and inter-sensor extrinsics. This work…
This paper presents a novel online capable method for simultaneous estimation of human motion in terms of segment orientations and positions along with sensor-to-segment calibration parameters from inertial sensors attached to the body. In…
In precision sports such as archery, athletes' performance depends on both biomechanical stability and psychological resilience. Traditional motion analysis systems are often expensive and intrusive, limiting their use in natural training…
Real time calculation of inverse kinematics (IK) with dynamically stable configuration is of high necessity in humanoid robots as they are highly susceptible to lose balance. This paper proposes a methodology to generate joint-space…
Federated learning (FL), as a collaborative distributed training paradigm with several edge computing devices under the coordination of a centralized server, is plagued by inconsistent local stationary points due to the heterogeneity of the…
This paper proposes a low-cost six Degree-of-Freedom (6-DOF) navigation system for small aerial robots based on the integration of Global Position System (GPS) receiver with sensors of inertional Microelectromechanical Systems (MEMS). In…
This research focuses on developing reinforcement learning approaches for the locomotion generation of small-size quadruped robots. The rat robot NeRmo is employed as the experimental platform. Due to the constrained volume, small-size…
In this letter, we present tightly coupled LiDAR-IMU-leg odometry, which is robust to challenging conditions such as featureless environments and deformable terrains. We developed an online learning-based leg kinematics model named the…