相关论文: Biomechanical Comparison of Human Walking Locomoti…
Space poses significant challenges for humans, leading to physiological adaptations in response to an environment vastly different from Earth. A comprehensive understanding of these physiological adaptations is needed to devise effective…
The ubiquity of personal digital devices offers unprecedented opportunities to study human behavior. Current state-of-the-art methods quantify physical activity using 'activity counts,' a measure which overlooks specific types of physical…
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…
Cadaveric studies have provided important insights into the mechanics of the human foot arch and plantar fascia. However, repeatedly probing posture-dependent viscoelastic responses immediately after landing impact is difficult in…
Legged robots are well-suited for broad exploration tasks in complex environments with yielding terrain. Understanding robotic foot-terrain interactions is critical for safe locomotion and walking efficiency for legged robots. This paper…
Locomotion of legged machines faces the problems of model complexity and computational costs. Algorithms based on complex models and/or reinforcement learning exist to solve the walking control task. In this project, we aim to develop a…
Inverse Kinematics (IK) remains a dynamic field of research, with various methods striving for speed and precision. Despite advancements, many IK techniques face significant challenges, including high computational demands and the risk of…
This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a challenging problem because we need to consider the…
This report reviews recent advancements in human motion prediction, reconstruction, and generation. Human motion prediction focuses on forecasting future poses and movements from historical data, addressing challenges like nonlinear…
Collective human movement is a hallmark of complex systems, exhibiting emergent order across diverse settings, from pedestrian flows to biological collectives. In high-speed scenarios, alignment interactions ensure efficient flow and…
Terrain-aware locomotion has become an emerging topic in legged robotics. However, it is hard to generate diverse, challenging, and realistic unstructured terrains in simulation, which limits the way researchers evaluate their locomotion…
Posture control and balance are basic requirements for a humanoid robot performing motor tasks like walking and interacting with the environment. For this reason, posture control is one of the elements taken into account when evaluating the…
Modeling humans in physical scenes is vital for understanding human-environment interactions for applications involving augmented reality or assessment of human actions from video (e.g. sports or physical rehabilitation). State-of-the-art…
Environment awareness is crucial for enhancing walking safety and stability of amputee wearing powered prosthesis when crossing uneven terrains such as stairs and obstacles. However, existing environmental perception systems for prosthesis…
Gait analysis is the study of the systematic methods that assess and quantify animal locomotion. The research on gait analysis has considerably evolved through time. It was an ancient art, and it still finds its application today in modern…
Gait, as one of unique biometric features, has the advantage of being recognized from a long distance away, can be widely used in public security. Considering 3D pose estimation is more challenging than 2D pose estimation in practice , we…
Snakes can traverse almost all types of environments by bending their elongate bodies in 3-D to interact with the terrain. Similarly, a snake robot is a promising platform to perform critical tasks in various environments. Understanding how…
The Internet of Things (IoT) sensors have been widely employed to capture human locomotions to enable applications such as activity recognition, human pose estimation, and fall detection. Motion capture (MoCap) systems are frequently used…
Sit-to-stand transitions are an important part of activities of daily living and play a key role in functional mobility in humans. The sit-to-stand movement is often affected in older adults due to frailty and in patients with motor…
In this research, we have developed the data driven computational walking model to overcome the problem with traditional kinematics based model. Our model is adaptable and can adjust the parameter morphological similar to human. The human…