相关论文: Data-driven Characterization of Human Interaction …
Generating stable walking gaits that yield natural locomotion when executed on robotic-assistive devices is a challenging task that often requires hand-tuning by domain experts. This paper presents an alternative methodology, where we…
We address the difficult question of inferring plausible node mobility based only on information from wireless contact traces. Working with mobility information allows richer protocol simulations, particularly in dense networks, but…
We present a nonlinear stochastic model of the human gait control system in a variety of gait regimes. The stride interval time series in normal human gait is characterized by slightly multifractal fluctuations. The fractal nature of the…
Data-driven modelling and synthesis of motion is an active research area with applications that include animation, games, and social robotics. This paper introduces a new class of probabilistic, generative, and controllable motion-data…
Passive monitoring in daily life may provide invaluable insights about a person's health throughout the day. Wearable sensor devices are likely to play a key role in enabling such monitoring in a non-obtrusive fashion. However, sensor data…
In this work, we introduce a control framework that combines model-based footstep planning with Reinforcement Learning (RL), leveraging desired footstep patterns derived from the Linear Inverted Pendulum (LIP) dynamics. Utilizing the LIP…
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…
This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact…
Configuring a prosthetic leg is an integral part of the fitting process, but the personalization of a multi-modal powered knee-ankle prosthesis is often too complex to realize in a clinical environment. This paper develops both the…
To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…
Modelling of contact-rich tasks is challenging and cannot be entirely solved using classical control approaches due to the difficulty of constructing an analytic description of the contact dynamics. Additionally, in a manipulation task like…
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 this article, we propose a deep learning framework that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation accomplishes to accurately and robustly estimate the contact…
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…
We describe a whole-body dynamic walking controller implemented as a convex quadratic program. The controller solves an optimal control problem using an approximate value function derived from a simple walking model while respecting the…
The paper presents a planner to generate walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot. The interaction between the robot and the walking surface is modeled explicitly via new conditions,…
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…
Humans excel at robust bipedal walking in complex natural environments. In each step, they adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to be robust against uncertainties in ground conditions.…
Hip exoskeletons are known for their versatility in assisting users across varied scenarios. However, current assistive strategies often lack the flexibility to accommodate for individual walking patterns and adapt to diverse locomotion…
Ensuring safety and adapting to the user's behavior are of paramount importance in physical human-robot interaction. Thus, incorporating elastic actuators in the robot's mechanical design has become popular, since it offers intrinsic…