相关论文: Postural Stability in Human Running with Step-down…
Gait refers to the patterns of limb movement generated during walking, which are unique to each individual due to both physical and behavioral traits. Walking patterns have been widely studied in biometrics, biomechanics, sports, and…
Variability in human response creates non-trivial challenges for modeling and control of human-automation systems. As autonomy becomes pervasive, methods that can accommodate human variability will become paramount, to ensure efficiency,…
We have been developing human-sized biped robots based on passive dynamic mechanisms. In human locomotion, the muscles activate at the same rate relative to the gait cycle during running. To achieve adaptive running for robots, such…
We study the dynamics of the separation (gap) between a pair of interacting run and tumble particles (RTPs) moving in one dimension in the presence of additional thermal noise. On a ring geometry the distribution of the gap approaches a…
Estimating the body shape and posture of a dressed human subject in motion represented as a sequence of (possibly incomplete) 3D meshes is important for virtual change rooms and security. To solve this problem, statistical shape spaces…
Knowledge on joint impedance during walking in various conditions is relevant for clinical decision-making and the development of robotic gait trainers, leg prostheses, leg orthotics and wearable exoskeletons. Whereas ankle impedance during…
Previous studies showed that natural walking reduces the susceptibility to VR sickness. However, many users still experience VR sickness when wearing VR headsets that allow free walking in room-scale spaces. This paper studies VR sickness…
For full-size humanoid robots, even with recent advances in reinforcement learning-based control, achieving reliable locomotion on complex terrains, such as long staircases, remains challenging. In such settings, limited perception,…
Gyration radius of individual's trajectory plays a key role in quantifying human mobility patterns. Of particular interests, empirical analyses suggest that the growth of gyration radius is slow versus time except the very early stage and…
Achieving stability and robustness is the primary goal of biped locomotion control. Recently, deep reinforce learning (DRL) has attracted great attention as a general methodology for constructing biped control policies and demonstrated…
Synthesizing a stable gait that enables a quadruped robot to climb stairs is the focus of this paper. To this end, first a stable transition from initial to desired configuration is made based on the minimum number of steps and maximum use…
Quantitative estimation of human joint motion in daily living spaces is essential for early detection and rehabilitation tracking of neuromusculoskeletal disorders (e.g., Parkinson's) and mitigating trip and fall risks for older adults.…
Human beings and other vertebrates show remarkable performance and efficiency in locomotion, but the functioning of their biological control systems for locomotion is still only partially understood. The basic patterns and timing for…
Standing-up control is crucial for humanoid robots, with the potential for integration into current locomotion and loco-manipulation systems, such as fall recovery. Existing approaches are either limited to simulations that overlook…
A one-dimensional run-and-tumble particle (RTP) switches randomly between a left and right moving state of constant speed $v$. This type of motion arises in a wide range of applications in cell biology, including the unbiased growth and…
One common method for stabilizing robots after a push is the Instantaneous Capture Point, however, this has the fundamental limitation of assuming constant height. Although there are several works for balancing bipedal robots including…
Human Pose Estimation (HPE) is one of the fundamental problems in computer vision. It has applications ranging from virtual reality, human behavior analysis, video surveillance, anomaly detection, self-driving to medical assistance. The…
Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvestigated. This paper introduces a hierarchical control…
Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific…
This study investigates the effects of anthropometric attributes, biological sex, and posture on translational body kinematic responses in translational vibrations. In total, 35 participants were recruited. Perturbations were applied on a…