相关论文: Redirected Walking in Static and Dynamic Scenes Us…

In trying to build humanoid robots that perform useful tasks in a world built for humans, we address the problem of autonomous locomotion. Humanoid robot planning and control algorithms for walking over rough terrain are becoming…

Augmented Virtuality integrates physical content into virtual environments, but the occlusion of physical by virtual content is a challenge. This unwanted occlusion may disrupt user interactions with physical devices and compromise safety…

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…

Recently, biped robot walking technology has been significantly developed, mainly in the context of a bland walking scheme. To emulate human walking, robots need to step on the positions they see in unknown spaces accurately. In this paper,…

Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…

Pedestrian detection is a crucial field of computer vision research which can be adopted in various real-world applications (e.g., self-driving systems). However, despite noticeable evolution of pedestrian detection, pedestrian…

This paper reports on a data-driven, interaction-aware motion prediction approach for pedestrians in environments cluttered with static obstacles. When navigating in such workspaces shared with humans, robots need accurate motion…

Motion planning in navigation systems is highly susceptible to upstream perceptual errors, particularly in human detection and tracking. To mitigate this issue, the concept of guidance points--a novel directional cue within a reinforcement…

Effective bipedal locomotion in dynamic environments, such as cluttered indoor spaces or uneven terrain, requires agile and adaptive movement in all directions. This necessitates omnidirectional terrain sensing and a controller capable of…

Predicting where people can walk in a scene is important for many tasks, including autonomous driving systems and human behavior analysis. Yet learning a computational model for this purpose is challenging due to semantic ambiguity and a…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

Navigating our physical environment requires changing directions and turning. Despite its ecological importance, we do not have a unified theoretical account of non-straight-line human movement. Here, we present a unified optimality…

Current visual navigation systems often treat the environment as static, lacking the ability to adaptively interact with obstacles. This limitation leads to navigation failure when encountering unavoidable obstructions. In response, we…

Drawing inspiration from human multi-domain walking, this work presents a novel reduced-order model based framework for realizing multi-domain robotic walking. At the core of our approach is the viewpoint that human walking can be…

Dynamic bipedal walking on discrete terrain, like stepping stones, is a challenging problem requiring feedback controllers to enforce safety-critical constraints. To enforce such constraints in real-world experiments, fast and accurate…

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…

Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…

Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…

Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…

Wheeled-legged robots combine the efficiency of wheels with the obstacle negotiation of legs, yet many state-of-the-art systems rely on costly actuators and sensors, and fall-recovery is seldom integrated, especially for wheeled-legged…