相关论文: Energetic Versus Sthenic Optimality Criteria for G…

Human movements are physical processes combining the classical mechanics of the human body moving in space and the biomechanics of the muscles generating the forces acting on the body under sophisticated sensory-motor control. The…

In this paper, we consider the notions of effort and resilience of a dynamical control system defined by the maximum disturbance the system can withstand while satisfying given finite temporal logic specifications. Given a dynamical system…

The mimicking of human-like arm movement characteristics involves the consideration of three factors during control policy synthesis: (a) chosen task requirements, (b) inclusion of noise during movement execution and (c) chosen optimality…

Human movements are physical processes combining the classical mechanics of the human body moving in space and the biomechanics of the muscles generating the forces acting on the body under sophisticated sensory-motor control. One way to…

Modern optimal control theory involves adjoining the already known equations of motion of a dynamic system to the objective function using dynamic costates; this is done in order to constrain the optimal control solutions to satisfy the…

The biomechanics of the human body allow humans a range of possible ways of executing movements to attain specific goals. Nevertheless, humans exhibit significant patterns in how they execute movements. We propose that the observed patterns…

While the use of technology to provide accurate and objective measurements of human movement performance is presently an area of great interest, efforts to quantify the performance of movement are hampered by the lack of a principled model…

This paper tackles the problem of physics-aware human motion synthesis in a dynamic scene. Unlike existing works which mainly tend to generate physically unrealistic motions due to limited contact modeling, typically restricted to hands, in…

Typical leg exoskeletons employ open-loop kinematic chains with motors placed directly on movable joints; while this design offers flexibility, it leads to increased costs and heightened control complexity due to the high number of degrees…

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…

This work presents the analysis of the properties of the shortest path control synthesis for the rigid body system. The systems we focus on in this work have only kinematic constraints. However, even for seemingly simple systems and…

Synaptic transmission must balance the need for reliable signalling against the metabolic cost of achieving that reliability. How energetic constraints shape synaptic precision and its regulation during plasticity remains unclear. Here we…

For non-robot-programming experts, kinesthetic guiding can be an intuitive input method, as robot programming of in-contact tasks is becoming more prominent. However, imprecise and noisy input signals from human demonstrations pose problems…

Many biological functions require the dynamics to be necessarily driven out-of-equilibrium. In contrast, in various contexts, a nonequilibrium dynamics at fast timescales can be described by an effective equilibrium dynamics at a slower…

Controller synthesis is the process of constructing a correct system automatically from its specification. This often requires assumptions about the behaviour of the environment. It is difficult for the designer to identify the assumptions…

Consider a decision maker who is responsible to dynamically collect observations so as to enhance his information about an underlying phenomena of interest in a speedy manner while accounting for the penalty of wrong declaration. Due to the…

The levels of agility and flight or swimming performance demonstrated by insects, birds, fish, and even some aquatic invertebrates, are often vastly superior to what even the most advanced human-engineered vehicles operating in the same…

Human motion synthesis is an important problem with applications in graphics, gaming and simulation environments for robotics. Existing methods require accurate motion capture data for training, which is costly to obtain. Instead, we…

This paper addresses several critical stages of designing a walking robot, including optimal structural synthesis, introducing a novel 'rational' mechanical structure aimed at enhancing efficiency and simplifying control system, while…

The biomechanics of the human body gives subjects a high degree of freedom in how they can execute movement. Nevertheless, subjects exhibit regularity in their movement patterns. One way to account for this regularity is to suppose that…