Related papers: Elastic Locomotion with Mixed Second-order Differe…
A new approach is developed to integrate numerically the equations of motion for systems of interacting rigid polyatomic molecules. With the aid of a leapfrog framework, we directly involve principal angular velocities into the integration,…
Modern Reinforcement Learning (RL) algorithms promise to solve difficult motor control problems directly from raw sensory inputs. Their attraction is due in part to the fact that they can represent a general class of methods that allow to…
We study the efficiency of sliding locomotion for three-link bodies in the presence of dry (Coulomb) friction. Friction coefficient space can be partitioned into several regions, each with distinct types of efficient kinematics. These…
Human action recognition is a crucial task for intelligent robotics, particularly within the context of human-robot collaboration research. In self-supervised skeleton-based action recognition, the mask-based reconstruction paradigm learns…
We propose a simple mechanical model of locomotion induced by internal force and friction. We first construct a system of two elements as an analog of the bipedal motion. The internal force does not induce a directional motion by itself…
We propose a reduced-space elasto-dynamic solver that is well suited for augmenting rigged character animations with secondary motion. At the core of our method is a novel deformation subspace based on Linear Blend Skinning that overcomes…
This paper addresses the problem of estimating the attitude and angular velocity of a rigid object by exploiting its second order kinematic model. The approach is particularly useful in cases where angular velocity measurements are not…
Using a layered representation for motion estimation has the advantage of being able to cope with discontinuities and occlusions. In this paper, we learn to estimate optical flow by combining a layered motion representation with deep…
This work considers Bayesian experimental design for the inverse boundary value problem of linear elasticity in a two-dimensional setting. The aim is to optimize the positions of compactly supported pressure activations on the boundary of…
Human joint dynamic stiffness plays an important role in the stability of performance augmentation exoskeletons. In this paper, we consider a new frequency domain model of the human joint dynamics which features a complex value stiffness.…
Locomotion is typically studied either in continuous media where bodies and legs experience forces generated by the flowing medium, or on solid substrates dominated by friction. In the former, centralized coordination is believed to…
We introduce a novel musculoskeletal model of a dog, procedurally generated from accurate 3D muscle meshes. Accompanying this model is a motion capture-based locomotion task compatible with a variety of control algorithms, as well as an…
Responding mechanically to environmental requests, muscles show a surprisingly large variety of functions. The studies of in vivo cycling muscles qualified skeletal muscles into four principal locomotor patterns: motor, brake, strut, and…
Virtual models of human gait, or digital twins, offer a promising solution for studying mobility without the need for labor-intensive data collection. However, challenges such as the sim-to-real gap and limited adaptability to diverse…
Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…
Synthesizing physiologically-accurate human movement in a variety of conditions can help practitioners plan surgeries, design experiments, or prototype assistive devices in simulated environments, reducing time and costs and improving…
We introduce a class of first-order methods for smooth constrained optimization that are based on an analogy to non-smooth dynamical systems. Two distinctive features of our approach are that (i) projections or optimizations over the entire…
In this work we construct a low-order nonconforming approximation method for linear elasticity problems supporting general meshes and valid in two and three space dimensions. The method is obtained by hacking the Hybrid High-Order method,…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
In this paper, we introduce a consistency-driven dual LSTM framework for accurately learning both the forward and inverse kinematics of a pneumatically actuated soft robotic arm integrated into a wearable device. This approach effectively…