相关论文: Gait Graph Optimization: Generate Variable Gaits f…

Gait, the walking pattern of individuals, is one of the most important biometrics modalities. Most of the existing gait recognition methods take silhouettes or articulated body models as the gait features. These methods suffer from degraded…

The objective assessment of gait kinematics is crucial in evaluating human movement, informing clinical decisions, and advancing rehabilitation and assistive technologies. Assessing gait symmetry, in particular, holds significant importance…

Gaits and transitions are key components in legged locomotion. For legged robots, describing and reproducing gaits as well as transitions remain longstanding challenges. Reinforcement learning has become a powerful tool to formulate…

Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a large number of possible galloping gaits by categorizing…

Using lower-limbs exoskeletons provides potential advantages in terms of productivity and safety associated with reduced stress. However, complex issues in human-robot interaction are still open, such as the physiological effects of…

In recent years, radar-based devices have emerged as an alternative approach for gait monitoring. However, the radar configuration and the algorithms used to extract the gait parameters often differ between contributions, lacking a…

Quadrupedal robots excel in mobility, navigating complex terrains with agility. However, their complex control systems present challenges that are still far from being fully addressed. In this paper, we introduce the use of Sample-Based…

Trajectory optimization and posture generation are hard problems in robot locomotion, which can be non-convex and have multiple local optima. Progress on these problems is further hindered by a lack of open benchmarks, since comparisons of…

Reinforcement learning method is extremely competitive in gait generation techniques for quadrupedal robot, which is mainly due to the fact that stochastic exploration in reinforcement training is beneficial to achieve an autonomous gait.…

This paper describes a method to convert Microsoft Kinect coordinates into gait parameters in order to detect a person's gait change. The proposed method can help quantify the progress of physical therapy. Microsoft Kinect, a popular…

In this paper, we propose a method that estimates a gait index for a sequence of skeletons. Our system is a stack of an encoder and a decoder that are formed by Long Short-Term Memories (LSTMs). In the encoding stage, the characteristics of…

Gait analysis (GA) has been widely used in physical activity monitoring and clinical contexts, and the estimation of the spatial-temporal gait parameters is of primary importance for GA. With the quick development of smart tiny sensors, GA…

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…

Data-driven approaches for modeling human skeletal motion have found various applications in interactive media and social robotics. Challenges remain in these fields for generating high-fidelity samples and robustly reconstructing motion…

This paper systematically decomposes a quadrupedal robot into bipeds to rapidly generate walking gaits and then recomposes these gaits to obtain quadrupedal locomotion. We begin by decomposing the full-order, nonlinear and hybrid dynamics…

Gait phase-based control is a trending research topic for walking-aid robots, especially robotic lower-limb prostheses. Gait phase estimation is a challenge for gait phase-based control. Previous researches used the integration or the…

This work aims to combine machine learning and control approaches for legged robots, and developed a hybrid framework to achieve new capabilities of balancing against external perturbations. The framework embeds a kernel which is a fully…

For a robot to be both autonomous and collaborative requires the ability to adapt its movement to a variety of external stimuli, whether these come from humans or other robots. Typically, legged robots have oscillation periods explicitly…

Legged locomotion enables robotic systems to traverse extremely challenging terrains. In many real-world scenarios, the terrain is not that difficult and these mixed terrain types introduce the need for flexible use of different walking…

Walking is one of the most common modes of terrestrial locomotion for humans. Walking is essential for humans to perform most kinds of daily activities. When a person walks, there is a pattern in it, and it is known as gait. Gait analysis…