Related papers: Olaf: Bringing an Animated Character to Life in th…
Over the course of the last several years there was a strong interest in application of modern optimal control techniques to the field of character animation. This interest was fueled by introduction of efficient learning based algorithms…
Animals locomote for various reasons: to search for food, find suitable habitat, pursue prey, escape from predators, or seek a mate. The grand scale of biodiversity contributes to the great locomotory design and mode diversity. Various…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
Recent advances in real-time interactive text-driven motion generation have enabled humanoids to perform diverse behaviors. However, kinematics-only generators often exhibit physical hallucinations, producing motion trajectories that are…
This work expands further our earlier poster presentation and integration of the OpenGL Slides Framework (OGLSF) - to make presentations with real-time animated graphics where each slide is a scene with tidgets - and physical based…
We introduce PICA, a novel representation for high-fidelity animatable clothed human avatars with physics-accurate dynamics, even for loose clothing. Previous neural rendering-based representations of animatable clothed humans typically…
This project aims to motivate research in competitive human-robot interaction by creating a robot competitor that can challenge human users in certain scenarios such as physical exercise and games. With this goal in mind, we introduce the…
We present a controller that allows an arm-like manipulator to navigate deformable cloth garments in simulation through the use of haptic information. The main challenge of such a controller is to avoid getting tangled in, tearing or…
Real-time animation of virtual characters has traditionally been accomplished by playing short sequences of animations structured in the form of a graph. These methods are time-consuming to set up and scale poorly with the number of motions…
For a robot to act intelligently, it needs to sense the world around it. Increasingly, robots build an internal representation of the world from sensor readings. This representation can then be used to inform downstream tasks, such as…
Learning a locomotion controller for a musculoskeletal system is challenging due to over-actuation and high-dimensional action space. While many reinforcement learning methods attempt to address this issue, they often struggle to learn…
Robots designed for therapy and social interaction aim to evoke a sense of animacy in humans. While many studies have focused on life like appearance or joint based movements, the effect of whole body volume changing movements commonly…
Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…
This paper presents the design and development of a highly articulated, continuum, wearable, fabric-based Soft Poly-Limb (fSPL). This fabric soft arm acts as an additional limb that provides the wearer with mobile manipulation assistance…
Metaverse is an immersive shared space that remote users can access through virtual and augmented reality interfaces, enabling their avatars to interact with each other and the surrounding. Although digital objects can be manipulated,…
Learning policies for complex humanoid tasks remains both challenging and compelling. Inspired by how infants and athletes rely on external support--such as parental walkers or coach-applied guidance--to acquire skills like walking,…
As the number of the robot's degrees of freedom increases, the implementation of robot motion becomes more complex and difficult. In this study, we focus on learning 6DOF-grasping motion and consider dividing the grasping motion into…
This study investigates how human motion cues can be used to design expressive robot-arm movements. Using the imperfect-information game Geister, we analyzed two types of human piece-moving motions: natural gameplay (unconscious tendencies)…
Advances in wearable robotics challenge the traditional definition of human motor systems, as wearable robots redefine body structure, movement capability, and perception of their own bodies. We measured gait performance and perceived body…
Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…