Related papers: Simultaneous Locomotion Mode Classification and Co…
As a unique biometric feature that can be recognized at a distance, gait has broad applications in crime prevention, forensic identification and social security. To portray a gait, existing gait recognition methods utilize either a gait…
The use of 3D cameras for gait analysis has been highly questioned due to the low accuracy they have demonstrated in the past. The objective of the study presented in this paper is to improve the accuracy of the estimations made by…
This paper presents a Q-learning framework for learning optimal locomotion gaits in robotic systems modeled as coupled rigid bodies. Inspired by prevalence of periodic gaits in bio-locomotion, an open loop periodic input is assumed to (say)…
Postural sway assessment is important for detecting balance problems and identifying people at risk of falls. Force plates (FP) are considered the gold standard postural sway assessment method in laboratory conditions, but their lack of…
The ubiquity of personal digital devices offers unprecedented opportunities to study human behavior. Current state-of-the-art methods quantify physical activity using 'activity counts,' a measure which overlooks specific types of physical…
In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…
State-of-the-art perceptive Reinforcement Learning controllers for legged robots either (i) impose oscillator or IK-based gait priors that constrain the action space, add bias to the policy optimization and reduce adaptability across robot…
Lower-limb prosthesis wearers are more prone to falling than non-amputees. Powered prostheses can reduce this instability of passive prostheses. While shown to be more stable in practice, powered prostheses generally use model-independent…
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…
Predicting human trajectory is crucial for social robot navigation in crowded environments. While most existing approaches treat human as point mass, we present a study on multi-agent trajectory prediction that leverages different human…
Lower limb prosthesis can benefit from embedded systems capable of applying computer vision techniques to enhance autonomous control and context awareness for intelligent decision making. In order to fill in the gap of current literature of…
Robot multimodal locomotion encompasses the ability to transition between walking and flying, representing a significant challenge in robotics. This work presents an approach that enables automatic smooth transitions between legged and…
To dynamically traverse challenging terrain, legged robots need to continually perceive and reason about upcoming features, adjust the locations and timings of future footfalls and leverage momentum strategically. We present a pipeline that…
This study focuses on the locomotion capability improvement in a tendon-driven soft quadruped robot through an online adaptive learning approach. Leveraging the inverse kinematics model of the soft quadruped robot, we employ a central…
Walking is one of the most common modes of terrestrial locomotion for humans. Walking is essential for humans to perform most kinds of daily activities. When a person walks, there is a pattern in it, and it is known as gait. Gait analysis…
Natural control of limb motion is continuous and progressively adaptive to individual intent. While intuitive interfaces have the potential to rely on the neuromuscular input by the user for continuous adaptation, continuous volitional…
The planning of whole-body motion and step time for bipedal locomotion is constructed as a model predictive control (MPC) problem, in which a sequence of optimization problems needs to be solved online. While directly solving these problems…
A key problem in robotic locomotion is in finding optimal shape changes to effectively displace systems through the world. Variational techniques for gait optimization require estimates of body displacement per gait cycle; however, these…
Process modeling and understanding are fundamental for advanced human-computer interfaces and automation systems. Most recent research has focused on activity recognition, but little has been done on sensor-based detection of process…
A person's passage of time perception (POTP) is strongly linked to their mental state and stress response, and can therefore provide an easily quantifiable means of continuous mental health monitoring. In this work, we develop a custom…