相关论文: Wild Motion Unleashed: Markerless 3D Kinematics an…
Reconstructing the 3D geometry, pose, and motion of animals is a long-standing problem, which has a wide range of applications, from biology, livestock management, and animal conservation and welfare to content creation in digital…
Aerial vehicles are revolutionizing applications that require capturing the 3D structure of dynamic targets in the wild, such as sports, medicine, and entertainment. The core challenges in developing a motion-capture system that operates in…
Recent advancements in legged locomotion research have made legged robots a preferred choice for navigating challenging terrains when compared to their wheeled counterparts. This paper presents a novel locomotion policy, trained using Deep…
Understanding the well-being of cattle is crucial in various agricultural contexts. Cattle's body shape and joint articulation carry significant information about their welfare, yet acquiring comprehensive datasets for 3D body pose…
Depth estimation and 3D reconstruction have been extensively studied as core topics in computer vision. Starting from rigid objects with relatively simple geometric shapes, such as vehicles, the research has expanded to address general…
Reasons for Performing Study: Equine gait analysis has focused on 2D analysis in the sagittal plane, while descriptions of 3D kinetics and ground reaction force could provide more information on the Equine gait analysis. Hypothesis or…
In this theoretical study, we present an analytical framework to investigate the slithering motion of snakes on flat surfaces. While previous studies have predominantly relied on numerical methods to identify optimal locomotion kinematics,…
It is well known that animals can use neural and sensory feedback via vision, tactile sensing, and echolocation to negotiate obstacles. Similarly, most robots use deliberate or reactive planning to avoid obstacles, which relies on prior…
We focus on the task of estimating a physically plausible articulated human motion from monocular video. Existing approaches that do not consider physics often produce temporally inconsistent output with motion artifacts, while…
Limbless terrestrial animals exhibit exceptional locomotor versatility and control, currently unmatched by engineered counterparts. Here, we introduce a computational framework that enables soft synthetic snakes to navigate unstructured,…
While 2D pose estimation has advanced our ability to interpret body movements in animals and primates, it is limited by the lack of depth information, constraining its application range. 3D pose estimation provides a more comprehensive…
The recognition of dynamic and social behavior in animals is fundamental for advancing ethology, ecology, medicine and neuroscience. Recent progress in deep learning has enabled automated behavior recognition from video, yet an accurate…
High-speed autonomous driving in off-road environments has immense potential for various applications, but it also presents challenges due to the complexity of vehicle-terrain interactions. In such environments, it is crucial for the…
Humanoid and legged robots interact with the environment through intermittent contacts, making accurate motion estimation fundamentally dependent on reasoning about contact dynamics. However, standard sensing pipelines-whether based on…
Animals move in three dimensions (3D). Thus, 3D measurement is necessary to report the true kinematics of animal movement. Existing 3D measurement techniques draw on specialized hardware, such as motion capture or depth cameras, as well as…
Simple experiments for which differential equations cannot be solved analytically can be addressed using an effective model that satisfactorily reproduces the experimental data. In this work, the one-dimensional kinematics of a…
This paper provides the mathematical expressions, formulated in classical trigonometric terms, that are required (i) to compute an animal's body orientations and rotations in 3D space from data acquired at high-frequency by on-board…
arly identification of motor impairment in infancy relies on expert visual assessment of spontaneous movement, motivating the development of automated, objective alternatives. One promising approach is using computer vision, which benefits…
Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability and support in complex environments. This paper introduces…
The biological spine of quadrupeds enables sagittal flexion/extension, lateral bending, and axial rotation, playing a crucial role in highly agile and dexterous locomotion. While numerous studies have integrated active spinal joints into…