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State-space estimation and tracking rely on accurate dynamical models to perform well. However, obtaining an vaccurate dynamical model for complex scenarios or adapting to changes in the system poses challenges to the estimation process.…
Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction with humans, users may still adopt awkward, non-ergonomic…
Whole-body pose and shape estimation aims to jointly predict different behaviors (e.g., pose, hand gesture, facial expression) of the entire human body from a monocular image. Existing methods often exhibit degraded performance under the…
In this paper, we introduce a model-free, real-time, dynamic optimization and control method for a class of rigid body dynamics. Our method is based on a recent extremum seeking control for vibrational stabilization (ESC-VS) approach that…
A multiscale model for real-time simulation of terrain dynamics is explored. To represent the dynamics on different scales the model combines the description of soil as a continuous solid, as distinct particles and as rigid multibodies. The…
We present a methodology to automatically obtain Pose Space Deformation (PSD) basis for rigged garments through deep learning. Classical approaches rely on Physically Based Simulations (PBS) to animate clothes. These are general solutions…
Accurate physical modeling with 3D-printing techniques could lead to new approaches to study structure and dynamics of biological systems complementing computational methods. Computational biology has become an important part of research…
Simulated virtual environments serve as one of the main driving forces behind developing and evaluating skill learning algorithms. However, existing environments typically only simulate rigid body physics. Additionally, the simulation…
Multibody dynamics simulation plays an important role in various fields, including mechanical engineering, robotics, and biomechanics. Setting up computational models however becomes increasingly challenging as systems grow in size and…
This paper presents modeling and simulation of a spined quadruped robot. Extended literature survey is employed and spine joints researches of the quadruped robots are classified. Most of the researchers execute simplified quadruped robot…
We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact is assumed to be a planar non-convex contact patch. The planar non-convex contact patch…
Simulation has played an important role in efficiently evaluating self-driving vehicles in terms of scalability. Existing methods mostly rely on heuristic-based simulation, where traffic participants follow certain human-encoded rules that…
Efficient robot dynamics simulation is a fundamental problem key for robot control, identification, design and analysis. This research statement explores my current progress in this field and future research directions.
Accurate and efficient thermal dynamics models of permanent magnet synchronous motors are vital to efficient thermal management strategies. Physics-informed methods combine model-based and data-driven methods, offering greater flexibility…
Musculoskeletal humanoids are robots that closely mimic the human musculoskeletal system, offering various advantages such as variable stiffness control, redundancy, and flexibility. However, their body structure is complex, and muscle…
Humans have a remarkable ability to predict the effect of physical interactions on the dynamics of objects. Endowing machines with this ability would allow important applications in areas like robotics and autonomous vehicles. In this work,…
We present a method for efficient differentiable simulation of articulated bodies. This enables integration of articulated body dynamics into deep learning frameworks, and gradient-based optimization of neural networks that operate on…
Simulating physical systems is a core component of scientific computing, encompassing a wide range of physical domains and applications. Recently, there has been a surge in data-driven methods to complement traditional numerical simulations…
Loco-manipulation, physical interaction of various objects that is concurrently coordinated with locomotion, remains a major challenge for legged robots due to the need for both precise end-effector control and robustness to unmodeled…
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…