相关论文: How do we walk? Using hybrid holonomy to approxima…
Although there has been recent progress in control of multi-joint prosthetic legs for rhythmic tasks such as walking, control of these systems for non-rhythmic motions and general real-world maneuvers is still an open problem. In this…
We present a new framework to generate human-like lower-limb trajectories in periodic and non-periodic walking conditions. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to model…
In order to keep their cohesiveness during locomotion gregarious animals must make collective decisions. Many species boast complex societies with multiple levels of communities. A common case is when two dominant levels exist, one…
Although human beings have known about the phenomenon of "flocking"- that is, the coherent movement of large numbers of creatures (flocks of birds, schools of fish, herds of woolly mammoths, etc.)- since prehistoric times, it is only in the…
A particle subject to successive, random displacements is said to execute a random walk (in position or some other coordinate). The mathematical properties of random walks have been very thoroughly investigated, and the model is used in…
Random walks on graphs are widely used in all sciences to describe a great variety of phenomena where dynamical random processes are affected by topology. In recent years, relevant mathematical results have been obtained in this field, and…
We investigate the physical properties of steady flows in a holographic first-order phase transition model, extending from the thermodynamics at equilibrium to the real-time dynamics far from equilibrium. Through spinodal decomposition or…
We study a particle system with hopping (random walk) dynamics on the integer lattice $\mathbb Z^d$. The particles can exist in two states, active or inactive (sleeping); only the former can hop. The dynamics conserves the number of…
We present a review on the progress in the understanding and characterization of holonomy and topology of a discrete-time quantum walk architecture, consisting of a unitary step given by a sequence of two non-commuting rotations in…
Quantum walks in atomic systems, owing to their continuous nature, are especially well-suited for the simulation of many-body physics and can potentially offer an exponential speedup in solving certain black box problems. Photonics offers…
When executing whole-body motions, humans are able to use a large variety of support poses which not only utilize the feet, but also hands, knees and elbows to enhance stability. While there are many works analyzing the transitions involved…
We present an algorithm for receding-horizon motion planning using a finite family of motion primitives for underactuated dynamic walking over uneven terrain. The motion primitives are defined as virtual holonomic constraints, and the…
Quantum walks are counterparts of classical random walks. They spread faster, which can be exploited in information processing tasks, and constitute a versatile simulation platform for many quantum systems. Yet, some of their properties can…
With the aim of understanding the emergence of collective motion from local interactions of organisms in a "noisy" environment, we study biologically inspired, inherently non-equilibrium models consisting of self-propelled particles. In…
In this chapter we will highlight our experimental studies on natural human walking analysis and introduce a biologically inspired design for simple bipedal locomotion system of humanoid robots. Inspiration comes directly from human walking…
The evolution of a closed quantum system is described by a unitary operator generated by a Hermitian Hamiltonian. However, when certain degrees of freedom are coupled to an environment, the relevant dynamics can be captured by non-unitary…
Hybrid dynamical systems, i.e. systems that have both continuous and discrete states, are ubiquitous in engineering, but are difficult to work with due to their discontinuous transitions. For example, a robot leg is able to exert very…
Forecasting pedestrians' future motions is essential for autonomous driving systems to safely navigate in urban areas. However, existing prediction algorithms often overly rely on past observed trajectories and tend to fail around abrupt…
Quantum walks are the quantum-mechanical analog of random walks, in which a quantum `walker' evolves between initial and final states by traversing the edges of a graph, either in discrete steps from node to node or via continuous evolution…
The random walk with hyperbolic probabilities that we are introducing is an example of stochastic diffusion in a one-dimensional heterogeneous media. Although driven by site-dependent one-step transition probabilities, the process retains…