相关论文: The Strange Attractor Model of Bipedal Locomotion …
The application of biomechanic and motor control models in the control of bidedal robots (humanoids, and exoskeletons) has revealed limitations of our understanding of human locomotion. A recently proposed model uses the potential energy…
Passive dynamic walkers are widely adopted as a mathematical model to represent biped walking. The stable locomotion of these models is limited to tilted surfaces, requiring gravitational energy. Various techniques, such as actuation…
Human beings can utilize multiple balance strategies, e.g. step location adjustment and angular momentum adaptation, to maintain balance when walking under dynamic disturbances. In this work, we propose a novel Nonlinear Model Predictive…
The work presented in this report introduces a framework aimed towards learning to imitate human gaits. Humans exhibit movements like walking, running, and jumping in the most efficient manner, which served as the source of motivation for…
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…
Locomotion may be induced on three levels. On a classical level, actuators and limbs follow the sequence of open-loop top-down control signals they receive. Limbs may move alternatively on their own, which implies that interlimb…
In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…
This paper extends the forced-oscillation-based reduced-order model of walking to a model with ankles and feet. A human-inspired paradigm was designed for the ankle dynamics, which results in improved gait characteristics compared to the…
Although ankle injuries resulting from postural instability are frequently observed during high-speed and intense physical activities, most current research has been limited to static or quasi-static models of the lower limb, or has focused…
Humans are able to negotiate downstep behaviors -- both planned and unplanned -- with remarkable agility and ease. The goal of this paper is to systematically study the translation of this human behavior to bipedal walking robots, even if…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…
In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary to account for sustained or alternating external forces other than ground-feet reaction, resulting from humanoid-object…
Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…
Due to the visual ambiguity, purely kinematic formulations on monocular human motion capture are often physically incorrect, biomechanically implausible, and can not reconstruct accurate interactions. In this work, we focus on exploiting…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
Human-like motion is a primary goal for many robotic assistive devices. Emulating the strategy of the human neuromuscular system may aid the control of such powered devices, yet many challenges remain. In this study, we investigated the…
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…