相关论文: A Data-driven Recommendation Framework for Optimal…
In many specific scenarios, accurate and effective system identification is a commonly encountered challenge in the model predictive control (MPC) formulation. As a consequence, the overall system performance could be significantly weakened…
Physical rehabilitation programs frequently begin with a brief stay in the hospital and continue with home-based rehabilitation. Lack of feedback on exercise correctness is a significant issue in home-based rehabilitation. Automated…
We propose an online motion planner for legged robot locomotion with the primary objective of achieving energy efficiency. The conceptual idea is to leverage a placement set of footstep positions based on the robot's body position to…
We present an end-to-end online motion planning framework that uses a data-driven approach to navigate a heterogeneous robot team towards a global goal while avoiding obstacles in uncertain environments. First, we use stochastic model…
High-dimensional limit theorems have been shown useful to derive tuning rules for finding the optimal scaling in random-walk Metropolis algorithms. The assumptions under which weak convergence results are proved are however restrictive: the…
This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry…
Hybrid systems, such as bipedal walkers, are challenging to control because of discontinuities in their nonlinear dynamics. Little can be predicted about the systems' evolution without modeling the guard conditions that govern transitions…
Challenges of enhancing productivity by amplifying efficiency and man-machine compatibility of equipment can be achieved by adopting advanced technologies. This study aims to present and exemplify methodology for incorporating ergonomics…
It is important to understand how bipedal walkers balance and walk effectively on granular materials, such as sand and loose dirt, etc. This paper first presents a computational approach to obtain the motion and energy analysis of bipedal…
Finding a local minimum or maximum of a function is often achieved through the gradient-descent optimization method. For a function in dimension d, the gradient requires to compute at each step d partial derivatives. This method is for…
This paper presents a mathematics-informed approach to neural operator design, building upon the theoretical framework established in our prior work. By integrating rigorous mathematical analysis with practical design strategies, we aim to…
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.…
Humanoid robots, designed to operate in human-centric environments, serve as a fundamental platform for a broad range of tasks. Although humanoid robots have been extensively studied for decades, a majority of existing humanoid robots still…
Traditionally, data selection has been studied in settings where all samples from prospective sources are fully revealed to a machine learning developer. However, in practical data exchange scenarios, data providers often reveal only a…
In this work, we present a transformer-based framework for predicting future pedestrian states based on clustered historical trajectory data. In previous studies, researchers propose enhancing pedestrian trajectory predictions by using…
Utilizing orthoses and exoskeleton technology in various applications and medical industries, particularly to help elderly and ordinary people in their daily activities is a new growing field for research institutes. In this paper, after…
The design of experiments involves a compromise between covariate balance and robustness. This paper provides a formalization of this trade-off and describes an experimental design that allows experimenters to navigate it. The design is…
The Random Walks (RW) algorithm is one of the most e - cient and easy-to-use probabilistic segmentation methods. By combining contrast terms with prior terms, it provides accurate segmentations of medical images in a fully automated manner.…
The process of robot design is a complex task and the majority of design decisions are still based on human intuition or tedious manual tuning. A more informed way of facing this task is computational design methods where design parameters…
Human gait can be a predictive factor for detecting pathologies that affect human locomotion according to studies. In addition, it is known that a high investment is demanded in order to raise a traditional clinical infrastructure able to…