相关论文: The Strange Attractor Model of Bipedal Locomotion …

The existing Motion Imitation models typically require expert data obtained through MoCap devices, but the vast amount of training data needed is difficult to acquire, necessitating substantial investments of financial resources, manpower,…

In this paper, the dynamical heteroclinic orbit and attractor have been employed to make the late-time behaviors of the model insensitive to the initial condition and thus alleviates the fine tuning problem in cosmological dynamical system…

In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…

This paper studies a control method for switching stable coexisting attractors of a class of non-autonomous dynamical systems. The central idea is to introduce a continuous path for the system's trajectory to transition from its original…

Uncovering the mechanism behind the scaling law in human trajectories is of fundamental significance in understanding many spatio-temporal phenomena. In combination of the exploration and the preferential returns, we propose a simple…

Despite the progress in legged robotic locomotion, autonomous navigation in unknown environments remains an open problem. Ideally, the navigation system utilizes the full potential of the robots' locomotion capabilities while operating…

Reduced-order models are powerful for analyzing and controlling high-dimensional dynamical systems. Yet constructing these models for complex hybrid systems such as legged robots remains challenging. Classical approaches rely on…

To simply and effectively realize the trajectory tracking control of a bionic joint actuated by a single pneumatic artificial muscle (PAM), a cascaded control strategy is proposed based on the robust modeling method. Firstly, the…

Recently, robot assisted therapy devices are increasingly used for spinal cord injury (SCI) rehabilitation in assisting handicapped patients to regain their impaired movements. Assistive robotic systems may not be able to cure or fully…

Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…

Motor Imagery (MI) is gaining traction in both rehabilitation and sports settings, but its immediate influence on human postural control is not yet clearly understood. The focus of this study is to examine the effects of MI on the dynamics…

Bipedal locomotion is a key challenge in robotics, particularly for robots like Bolt, which have a point-foot design. This study explores the control of such underactuated robots using constrained reinforcement learning, addressing their…

Generating robust locomotion for a humanoid robot in the presence of disturbances is difficult because of its high number of degrees of freedom and its unstable nature. In this paper, we used the concept of Divergent Component of…

Embodiment is a significant keyword in recent machine learning fields. This study focused on the passive nature of the body of a biped robot to generate walking and running locomotion using model-based deep reinforcement learning. We…

Arm end-effector stabilization is essential for humanoid loco-manipulation tasks, yet it remains challenging due to the high degrees of freedom and inherent dynamic instability of bipedal robot structures. Previous model-based controllers…

In this work, we present Conditional Adversarial Latent Models (CALM), an approach for generating diverse and directable behaviors for user-controlled interactive virtual characters. Using imitation learning, CALM learns a representation of…

Biological and artificial agents need to deal with constant changes in the real world. We study this problem in four classical continuous control environments, augmented with morphological perturbations. Learning to locomote when the length…

Balance is the fundamental skill behind human locomotion, and its impairment is the principal indicator of self-perceived disability. Despite significant improvements in balance assessment, there is still large incidence of fall related…

The study of motion in animals and robots has been aided by insights from geometric mechanics. In friction dominated systems, a mechanical "connection" can provide a high fidelity mechanical model. The connection is a co-vector (Lie…

Humanoid locomotion is a challenging task due to its inherent complexity and high-dimensional dynamics, as well as the need to adapt to diverse and unpredictable environments. In this work, we introduce a novel learning framework for…