Related papers: Actuators \`A La Mode: Modal Actuations for Soft B…
We present parametric trajectory optimization, a method for simultaneously computing physical parameters, actuation requirements, and robot motions for more efficient robot designs. In this scheme, robot dimensions, masses, and other…
Although humanoid and quadruped robots provide a wide range of capabilities, current control methods, such as Deep Reinforcement Learning, focus mainly on single skills. This approach is inefficient for solving more complicated tasks where…
Discrete and periodic contact switching is a key characteristic of steady-state legged locomotion. This paper introduces a framework for modeling and analyzing this contact-switching behavior through the framework of geometric mechanics on…
To traverse complex three-dimensional terrainwith large obstacles, animals and robots must transition across different modes. However, the most mechanistic understanding of terrestrial locomotion concerns how to generate and stabilize…
Successful human-robot collaboration depends on cohesive communication and a precise understanding of the robot's abilities, goals, and constraints. While robotic manipulators offer high precision, versatility, and productivity, they…
Motion generation is a cornerstone of computer graphics, animation, gaming, and robotics, enabling the creation of realistic and varied character movements. A significant limitation of existing methods is their reliance on specific skeletal…
Common disabilities like stroke and spinal cord injuries may cause loss of motor function in hands. They can be treated with robot assisted rehabilitation techniques, like continuously opening and closing the hand with help of a robot, in a…
Current robot architectures for modeling interaction behavior are not well suited to the dual task of sequencing discrete actions and incorporating information instantly. Additionally, for communication based on body motion, actions also…
Recent advancements in Gaussian-based human body reconstruction have achieved notable success in creating animatable avatars. However, there are ongoing challenges to fully exploit the SMPL model's prior knowledge and enhance the visual…
We present a realistic, robust, and computationally fast method of solving highly non-linear inverse kinematic problems with angular limits using the Gauss-Seidel iterative method. Our method is ideally suited towards character based…
Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which…
Soft robots are promising for manipulation tasks thanks to their compliance, safety, and high degree of freedom. However, the commonly used bidirectional continuum segment design means soft robotic manipulators only function in a limited…
We present CaPhy, a novel method for reconstructing animatable human avatars with realistic dynamic properties for clothing. Specifically, we aim for capturing the geometric and physical properties of the clothing from real observations.…
Voxel-based structures provide a modular, mechanically flexible periodic lattice which can be used as a soft robot through internal deformations. To engage these structures for robotic tasks, we use a finite element method to characterize…
We present a method to animate a character incorporating multiple part-wise motion priors (PMP). While previous works allow creating realistic articulated motions from reference data, the range of motion is largely limited by the available…
Soft pneumatic actuators enable safe human-machine interaction with lightweight and powerful applied parts. On the other side, they suffer design limitations as regards complex actuation patterns, including minimum bending radii,…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
Animation of humanoid characters is essential in various graphics applications, but requires significant time and cost to create realistic animations. We propose an approach to synthesize 4D animated sequences of input static 3D humanoid…
Computer animations often lack the subtle environmental changes that should occur due to the actions of the characters. Squealing car tires usually leave no skid marks, airplanes rarely leave jet trails in the sky, and most runners leave no…
This paper introduces a novel approach to interactive robots by leveraging the form-factor of cards to create thin robots equipped with vibrational capabilities for locomotion and haptic feedback. The system is composed of flat-shaped…