Related papers: Exploring Human Quadruped Locomotion for Exergames
With the rapid development of embodied intelligence, locomotion control of quadruped robots on complex terrains has become a research hotspot. Unlike traditional locomotion control approaches focusing solely on velocity tracking, we pursue…
Developing a framework for the locomotion of a six-legged robot or a hexapod is a complex task that has extensive hardware and computational requirements. In this paper, we present a bio-inspired framework for the locomotion of a hexapod.…
This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by computing low-variance first-order gradients using robot…
Human locomotion emerges from high-dimensional neuromuscular control, making predictive musculoskeletal simulation challenging. We present a physiology-informed reinforcement-learning framework that constrains control using muscle…
Coordinated human movement depends on the integration of multisensory inputs, sensorimotor transformation, and motor execution, as well as sensory feedback resulting from body-environment interaction. Building dynamic models of the…
This paper presents an innovative pseudo-haptic model for weight simulation in virtual reality (VR) environments. By integrating visual feedback with voluntary exerted force through a passive haptic glove, the model creates haptic illusions…
Virtual reality (VR) is an important new technology that is fun-damentally changing the way people experience entertainment and education content. Due to the fact that most currently available VR products are one size fits all, the…
This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aerial platform consists of a humanoid torso attached to a…
Unknown dynamic load carrying is one important practical application for quadruped robots. Such a problem is non-trivial, posing three major challenges in quadruped locomotion control. First, how to model or represent the dynamics of the…
Quadruped-based mobile manipulation presents significant challenges in robotics due to the diversity of required skills, the extended task horizon, and partial observability. After presenting a multi-stage pick-and-place task as a succinct…
Quadruped robots have become quite popular for their ability to adapt their locomotion to generic uneven terrains. For this reason, over time, several frameworks for quadrupedal locomotion have been proposed, but with little attention to…
Compact quadrupedal robots are proving increasingly suitable for deployment in real-world scenarios. Their smaller size fosters easy integration into human environments. Nevertheless, real-time locomotion on uneven terrains remains…
Mixed Reality (MR) increasingly explores how virtual elements can shape physical behavior, yet how MR objects guide group movement remains underexplored. We address this gap by examining how virtual objects can nudge collective, co-located…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
Legged robots have the potential to become vital in maintenance, home support, and exploration scenarios. In order to interact with and manipulate their environments, most legged robots are equipped with a dedicated robot arm, which means…
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…
The musculoskeletal humanoid has various biomimetic benefits, and it is important that we can embed and evaluate human reflexes in the actual robot. Although stretch reflex has been implemented in lower limbs of musculoskeletal humanoids,…
By the recent spread of machine learning in the robotics field, a humanoid that can act, perceive, and learn in the real world through contact with the environment needs to be developed. In this study, as one of the choices, we propose a…
Adaptive game systems aim to enrich player experiences by dynamically adjusting game content in response to user data. While extensive research has addressed content personalization and player experience modeling, the integration of these…
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…