Related papers: Physics-informed Ground Reaction Dynamics from Hum…
Incorporating physics in human motion capture to avoid artifacts like floating, foot sliding, and ground penetration is a promising direction. Existing solutions always adopt kinematic results as reference motions, and the physics is…
We propose Ground Reaction Inertial Poser (GRIP), a method that reconstructs physically plausible human motion using four wearable devices. Unlike conventional IMU-only approaches, GRIP combines IMU signals with foot pressure data to…
With the increasing use of assistive robots in rehabilitation and assisted mobility of human patients, there has been a need for a deeper understanding of human-robot interactions particularly through simulations, allowing an understanding…
Bipeds have demonstrated high agility and mobility in unstructured environments such as sand. The yielding of such granular media brings significant sinkage and slip of the bipedal feet, leading to uncertainty and instability of walking…
We apply reinforcement learning (RL) to robotics tasks. One of the drawbacks of traditional RL algorithms has been their poor sample efficiency. One approach to improve the sample efficiency is model-based RL. In our model-based RL…
We propose a generative approach to physics-based motion capture. Unlike prior attempts to incorporate physics into tracking that assume the subject and scene geometry are calibrated and known a priori, our approach is automatic and online.…
Human motion synthesis and editing are essential to many applications like film post-production. However, they often introduce artefacts in motions, which can be detrimental to the perceived realism. In particular, footskating is a frequent…
The position-based dynamics (PBD) algorithm is a popular and versatile technique for real-time simulation of deformable bodies, but is only applicable to forces that can be expressed as linearly compliant constraints. In this work, we…
We present a new trainable system for physically plausible markerless 3D human motion capture, which achieves state-of-the-art results in a broad range of challenging scenarios. Unlike most neural methods for human motion capture, our…
Analyzing sports performance or preventing injuries requires capturing ground reaction forces (GRFs) exerted by the human body during certain movements. Standard practice uses physical markers paired with force plates in a controlled…
At an early age, human infants are able to learn and build a model of the world very quickly by constantly observing and interacting with objects around them. One of the most fundamental intuitions human infants acquire is intuitive…
Human motion understanding has advanced rapidly through vision-based progress in recognition, tracking, and captioning. However, most existing methods overlook physical cues such as joint actuation forces that are fundamental in…
While reconstructing human poses in 3D from inexpensive sensors has advanced significantly in recent years, quantifying the dynamics of human motion, including the muscle-generated joint torques and external forces, remains a challenge.…
The imminent impact of immersive technologies in society urges for active research in real-time and interactive physics simulation for virtual worlds to be realistic. In this context, realistic means to be compliant to the laws of physics.…
Human movement analysis is a key area of research in robotics, biomechanics, and data science. It encompasses tracking, posture estimation, and movement synthesis. While numerous methodologies have evolved over time, a systematic and…
Rigid body interactions are fundamental to numerous scientific disciplines, but remain challenging to simulate due to their abrupt nonlinear nature and sensitivity to complex, often unknown environmental factors. These challenges call for…
There are different physics-based approaches for analysing pedestrian movement. Physics-based methods like statistical mechanics-based models apply the laws of physics to drive equations for analysing crowd behaviour. This paper will…
For robots to navigate safely and efficiently on soft, granular terrains, it is crucial to gather information about the terrain's mechanical properties, which directly affect locomotion performance. Recent research has developed robotic…
Real-life control tasks involve matters of various substances---rigid or soft bodies, liquid, gas---each with distinct physical behaviors. This poses challenges to traditional rigid-body physics engines. Particle-based simulators have been…
Dynamic response evaluation in structural engineering is the process of determining the response of a structure, such as member forces, node displacements, etc when subjected to dynamic loads such as earthquakes, wind, or impact. This is an…