相关论文: Biomechanical Comparison of Human Walking Locomoti…
To traverse complex three-dimensional terrainwith large obstacles, animals and robots must transition across different modes. However, the most mechanistic understanding of terrestrial locomotion concerns how to generate and stabilize…
This work developed a learning framework for perceptive legged locomotion that combines visual feedback, proprioceptive information, and active gait regulation of foot-ground contacts. The perception requires only one forward-facing camera…
The present paper aims at providing the theoretical background required for investigating the use of the Microsoft Kinect$^{\rm TM}$ (`Kinect', for short) sensors (original and upgraded) in the analysis of human motion. Our methodology is…
Whole-body humanoid motion represents a fundamental challenge in robotics, requiring balance, coordination, and adaptability to enable human-like behaviors. However, existing methods typically require multiple training samples per motion,…
This paper illustrates how multilevel functional models can detect and characterize biomechanical changes along different sport training sessions. Our analysis focuses on the relevant cases to identify differences in knee biomechanics in…
Analysing human gait has found considerable interest in recent computer vision research. So far, however, contributions to this topic exclusively dealt with the tasks of person identification or activity recognition. In this paper, we…
Human motion detection is getting considerable attention in the field of Artificial Intelligence (AI) driven healthcare systems. Human motion can be used to provide remote healthcare solutions for vulnerable people by identifying particular…
A four-legged robot has learned to run on sand at faster pace than humans jog on solid ground. With low energy use and few failures, this rapid robot shows the value of combining data-driven learning with accurate yet simple models.
Gait refers to the patterns of limb movement generated during walking, which are unique to each individual due to both physical and behavioral traits. Walking patterns have been widely studied in biometrics, biomechanics, sports, and…
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…
This paper presents a human gait data collection for analysis and activity recognition consisting of continues recordings of combined activities, such as walking, running, taking stairs up and down, sitting down, and so on; and the data…
Drug-induced parkinsonism affects many older adults with dementia, often causing gait disturbances. New advances in vision-based human pose-estimation have opened possibilities for frequent and unobtrusive analysis of gait in residential…
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…
Keypoint data has received a considerable amount of attention in machine learning for tasks like action detection and recognition. However, human experts in movement such as doctors, physiotherapists, sports scientists and coaches use a…
Generating stable walking gaits that yield natural locomotion when executed on robotic-assistive devices is a challenging task that often requires hand-tuning by domain experts. This paper presents an alternative methodology, where we…
A detailed understanding of foot morphology can enable the design of more comfortable and better fitting footwear. However, foot morphology varies widely within the population, and changes dynamically during the loading of stance phase.…
This work presents algorithms for the feedback-stabilised walking of bipedal humanoid robotic platforms, along with the underlying theoretical and sensorimotor frameworks required to achieve it. Bipedal walking is inherently complex and…
Locomotion gaits are fundamental for control of soft terrestrial robots. However, synthesis of these gaits is challenging due to modeling of robot-environment interaction and lack of a mathematical framework. This work presents an…
Demystifying complex human-ground interactions is essential for accurate and realistic 3D human motion reconstruction from RGB videos, as it ensures consistency between the humans and the ground plane. Prior methods have modeled…
Gait and static body measurement are important biometric technologies for passive human recognition. Many previous works argue that recognition performance based completely on the gait feature is limited. The reason for this limited…