相关论文: Synthesis of Biologically Realistic Human Motion U…
Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains where real-world interaction or labeled data are difficult to…
Beyond providing accurate movements, achieving smooth motion trajectories is a long-standing goal of robotics control theory for arms aiming to replicate natural human movements. Drawing inspiration from biological agents, whose reaching…
There are several challenges in developing a model for multi-tasking humanoid control. Reinforcement learning and imitation learning approaches are quite popular in this domain. However, there is a trade-off between the two. Reinforcement…
Accurate actuation models are critical for bridging the gap between simulation and real robot behavior, yet obtaining high-fidelity actuator dynamics typically requires dedicated test stands and torque sensing. We present a trajectory-based…
Simulation has the potential to massively scale evaluation of self-driving systems enabling rapid development as well as safe deployment. To close the gap between simulation and the real world, we need to simulate realistic multi-agent…
A key step towards understanding human behavior is the prediction of 3D human motion. Successful solutions have many applications in human tracking, HCI, and graphics. Most previous work focuses on predicting a time series of future 3D…
Intelligent behaviour in the physical world exhibits structure at multiple spatial and temporal scales. Although movements are ultimately executed at the level of instantaneous muscle tensions or joint torques, they must be selected to…
The body structures of tendon-driven musculoskeletal humanoids are complex, and accurate modeling is difficult, because they are made by imitating the body structures of human beings. For this reason, we have not been able to move them…
Autonomous robots have the potential to serve as versatile caregivers that improve quality of life for millions of people worldwide. Yet, conducting research in this area presents numerous challenges, including the risks of physical…
In real-world industrial environments, modern robots often rely on human operators for crucial decision-making and mission synthesis from individual tasks. Effective and safe collaboration between humans and robots requires systems that can…
This work focuses on the optimization of the training trajectory orientation using a robot as an advanced exercise machine (AEM) and muscle activations as biofeedback. Muscle recruitment patterns depend on trajectory parameters of the AEMs…
Since wearable linkage mechanisms could control the moment transmission from actuator(s) to wearers, they can help ensure that even low-cost wearable systems provide advanced functionality tailored to users' needs. For example, if a hip…
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…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
Embodied agents in continuous control domains have had limited exposure to tasks allowing to explore musculoskeletal properties that enable agile and nimble behaviors in biological beings. The sophistication behind neuro-musculoskeletal…
Exoskeletons show great promise for enhancing mobility, but providing appropriate assistance remains challenging due to the complexity of human adaptation to external forces. Current state-of-the-art approaches for optimizing exoskeleton…
Imitation learning is a promising approach for training humanoid robots to both walk and manipulate, but it requires a large number of demonstrations, which are time-intensive and difficult to collect via teleoperation. Existing…
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…
Underactuated manipulators reduce the number of bulky motors, thereby enabling compact and mechanically robust designs. However, fewer actuators than joints means that the manipulator can only access a specific manifold within the joint…
Lower limb amputations and neuromuscular impairments severely restrict mobility, necessitating advancements beyond conventional prosthetics. While motorized bionic limbs show promise, their effectiveness depends on replicating the dynamic…