Related papers: How to achieve various gait patterns from single n…
Quantum walks constitute an important tool for designing quantum algorithms and information processing tasks. In a lackadaisical walk, in addition to the possibility of moving out of a node, the walker can remain on the same node with some…
Optimization of energy cost determines average values of spatio-temporal gait parameters such as step duration, step length or step speed. However, during walking, humans need to adapt these parameters at every step to respond to exogenous…
We propose a method to generate actuation plans for a reduced order, dynamic model of bipedal running. This method explicitly enforces robustness to ground uncertainty. The plan generated is not a fixed body trajectory that is aggressively…
Objective: In this paper, we demonstrate the applicability of radar for gait classification with application to home security, medical diagnosis, rehabilitation and assisted living. Aiming at identifying changes in gait patterns based on…
Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics resulting from impacts. With the goal of addressing this…
Navigating our physical environment requires changing directions and turning. Despite its ecological importance, we do not have a unified theoretical account of non-straight-line human movement. Here, we present a unified optimality…
The present research as described in this paper tries to impart how imitation based learning for behavior-based programming can be used to teach the robot. This development is a big step in way to prove that push recovery is a software…
We present a new framework to generate human-like lower-limb trajectories in periodic and non-periodic walking conditions. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to model…
We study discrete-time random walks on arbitrary networks with first-passage resetting processes. To the end, a set of nodes are chosen as observable nodes, and the walker is reset instantaneously to a given resetting node whenever it hits…
We present a technique for controlling physically simulated characters using user inputs from an off-the-shelf depth camera. Our controller takes a real-time stream of user poses as input, and simulates a stream of target poses of a biped…
In this paper, an online adaptation algorithm for bipedal walking on uneven surfaces with height uncertainty is proposed. In order to generate walking patterns on flat terrains, the trajectories in the task space are planned to satisfy the…
We consider a biased nearest-neighbor random walk on $\Z$ which at each step is trapped for some random time with random, site-dependent mean. We derive a simple formula for the speed function in terms of the model parameters.
Gait recognition is the characterization of unique biometric patterns associated with each individual which can be utilized to identify a person without direct contact. A public gait database with a relatively large number of subjects can…
Random walks on graphs can be slow. To speed them up, imagine that at each step instead of choosing the neighbor at random, there is a small probability $\varepsilon>0$ that we can choose it. We show that in this case, at least for graphs…
The critical goal of gait recognition is to acquire the inter-frame walking habit representation from the gait sequences. The relations between frames, however, have not received adequate attention in comparison to the intra-frame features.…
Inertia-dominated mechanical systems can achieve net displacement by 1) periodically changing their shape (known as kinematic gait) and 2) adjusting their inertia distribution to utilize the existing nonzero net momentum (known as momentum…
The subject of study is a neural network with binary neurons, randomly diluted synapses and variable pattern activity. We look at the system with parallel updating using a probabilistic approach to solve the one step dynamics with one…
Quadruped animals are capable of exhibiting a diverse range of locomotion gaits. While progress has been made in demonstrating such gaits on robots, current methods rely on motion priors, dynamics models, or other forms of extensive manual…
Previous experiments [M. J. Coleman and A. Ruina, Phys. Rev. Lett. 80, 3658 (1998)] showed that a gravity-powered toy with no control and which has no statically stable near-standing configurations can walk stably. We show here that a…
We perform simulations for one dimensional continuous-time random walks in two dynamic random environments with fast (independent spin-flips) and slow (simple symmetric exclusion) decay of space-time correlations, respectively. We focus on…