Related papers: Wild Motion Unleashed: Markerless 3D Kinematics an…
Tails used as inertial appendages induce body rotations of animals and robots, a phenomenon that is governed largely by the ratio of the body and tail moments of inertia. However, vertebrate tails have more degrees of freedom (e.g., number…
The kinematics recursive equation was built by using the modified D-H method after the structure of rehabilitation lower extremity exoskeleton was analyzed. The numerical algorithm of inverse kinematics was given too. Then the…
Effective locomotion in nature happens by transitioning across multiple modes (e.g., walk, run, climb). Despite this, far more mechanistic understanding of terrestrial locomotion has been on how to generate and stabilize around…
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.…
A major challenge of the long measurement times in magnetic resonance imaging (MRI), an important medical imaging technology, is that patients may move during data acquisition. This leads to severe motion artifacts in the reconstructed…
Imitation learning requires high-quality demonstrations consisting of sequences of state-action pairs. For contact-rich dexterous manipulation tasks that require dexterity, the actions in these state-action pairs must produce the right…
Multi-animal tracking (MAT), a multi-object tracking (MOT) problem, is crucial for animal motion and behavior analysis and has many crucial applications such as biology, ecology and animal conservation. Despite its importance, MAT is…
This work reports on developing a deep inverse reinforcement learning method for legged robots terrain traversability modeling that incorporates both exteroceptive and proprioceptive sensory data. Existing works use robot-agnostic…
Trajectory optimization with contact-rich behaviors has recently gained attention for generating diverse locomotion behaviors without pre-specified ground contact sequences. However, these approaches rely on precise models of robot dynamics…
The levels of agility and flight or swimming performance demonstrated by insects, birds, fish, and even some aquatic invertebrates, are often vastly superior to what even the most advanced human-engineered vehicles operating in the same…
Monocular 3D pose estimation is a promising, flexible alternative to costly motion capture systems for sports analysis. However, its practical application is hindered by two factors: a lack of realistic sports datasets and unclear…
Snake robots are inspired by the ability of biological snakes to move over rock, grass, leaves, soil, up trees, along pavement and more. Their ability to move in multiple distinct environments is due to their legless locomotion strategy,…
Fast and versatile locomotion can be achieved with wheeled quadruped robots that drive quickly on flat terrain, but are also able to overcome challenging terrain by adapting their body pose and by making steps. In this paper, we present a…
Legged robots face significant challenges in navigating complex environments, as they require precise real-time decisions for foothold selection and contact planning. While existing research has explored methods to select footholds based on…
This study presents an innovative computer vision framework designed to analyze human movements in industrial settings, aiming to enhance biomechanical analysis by integrating seamlessly with existing software. Through a combination of…
Robots excel at avoiding obstacles but struggle to traverse complex 3-D terrain with cluttered large obstacles. By contrast, insects like cockroaches excel at doing so. Recent research in our lab elucidated how locomotor transitions emerge…
Recently, through development of several 3d vision systems, widely used in various applications, medical and biometric fields. Microsoft kinect sensor have been most of used camera among 3d vision systems. Microsoft kinect sensor can obtain…
In this paper, we study current and upcoming frontiers across the landscape of skeleton-based human action recognition. To study skeleton-action recognition in the wild, we introduce Skeletics-152, a curated and 3-D pose-annotated subset of…
Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to…
In sports analytics, an understanding of accurate on-field 3D knee joint moments (KJM) could provide an early warning system for athlete workload exposure and knee injury risk. Traditionally, this analysis has relied on captive laboratory…