相关论文: RoboWalk: Explicit Augmented Human-Robot Dynamics …

Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which…

Several upper-limb exoskeleton robots have been developed for stroke rehabilitation, but their rather low level of individualized assistance typically limits their effectiveness and practicability. Individualized assistance involves an…

Lower extremity exoskeleton has been developed as a motion assistive technology in recent years. Walking pattern generation is a fundamental topic in the design of these robots. The usual approach with most exoskeletons is to use a…

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…

This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…

In this paper, we propose a novel approach on controlling wheel-legged quadrupedal robots using pose optimization and force control via quadratic programming (QP). Our method allows the robot to leverage the whole-body motion and the wheel…

Supernumerary Robotic Limbs (SRLs) can enhance human capability within close proximity. However, as a wearable device, the generated moment from its operation acts on the human body as an external torque. When the moments increase, more…

Human activity discovery aims to cluster the activities performed by humans without any prior information on what defines each activity. Most methods presented in human activity recognition are supervised, where there are labeled inputs to…

Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a complex subject and still one of the active topics in the…

Traditional force-controlled bipedal walking utilizes highly bent knees, resulting in high torques as well as inefficient, and unnatural motions. Even with advanced planning of center of mass height trajectories, significant amounts of…

Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…

A typical application of upper-limb exoskeleton robots is deployment in rehabilitation training, helping patients to regain manipulative abilities. However, as the patient is not always capable of following the robot, safety issues may…

Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…

Robotic devices provide a great opportunity to assist in delivering physical therapy and rehabilitation movements, yet current robot-assisted methods struggle to incorporate biomechanical metrics essential for safe and effective therapy. We…

Robots often have to operate in discrete partially observable worlds, where the states of world are only observable at runtime. To react to different world states, robots need contingencies. However, computing contingencies is costly and…

Lower Limb Exoskeletons (LLEs) are wearable robots that provide mechanical power to the user. Human-exoskeleton (HE) connections must preserve the user's natural behavior during the interaction, avoiding undesired forces. Therefore,…

Wearable assistive robots (WR) for the lower extremity are extensively documented in literature. Various interfaces have been designed to control these devices during gait and balance activities. However, achieving seamless and intuitive…

To construct a robot that can walk as efficiently and steadily as humans or other legged animals, we develop an enhanced elitist-mutated ant colony optimization~(EACO) algorithm with genetic and crossover operators in real-time applications…

We show dynamic locomotion strategies for wheeled quadrupedal robots, which combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the…

Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this…