相关论文: Exosense: A Vision-Based Scene Understanding Syste…
This paper looks into the problem of pedestrian tracking using a monocular, potentially moving, uncalibrated camera. The pedestrians are located in each frame using a standard human detector, which are then tracked in subsequent frames.…
Real-time occlusion handling is a major problem in outdoor mixed reality system because it requires great computational cost mainly due to the complexity of the scene. Using only segmentation, it is difficult to accurately render a virtual…
Wearable robotics for lower-limb assistance have become a pivotal area of research, aiming to enhance mobility for individuals with physical impairments or augment the performance of able-bodied users. Accurate and adaptive control systems…
Semantic understanding and localization are fundamental enablers of robot autonomy that have for the most part been tackled as disjoint problems. While deep learning has enabled recent breakthroughs across a wide spectrum of scene…
This paper presents a personalized gait optimization framework for lower-body exoskeletons. Rather than optimizing numerical objectives such as the mechanical cost of transport, our approach directly learns from user preferences, e.g., for…
Recent work has shown that exoskeletons controlled through data-driven methods can dynamically adapt assistance to various tasks for healthy young adults. However, applying these methods to populations with neuromotor gait deficits, such as…
The successful deployment of deep learning-based techniques for autonomous systems is highly dependent on the data availability for the respective system in its deployment environment. Especially for unstructured outdoor environments, very…
Self-supervised deep learning-based 3D scene understanding methods can overcome the difficulty of acquiring the densely labeled ground-truth and have made a lot of advances. However, occlusions and moving objects are still some of the major…
Designing an exoskeleton to reduce the risk of low-back injury during lifting is challenging. Computational models of the human-robot system coupled with predictive movement simulations can help to simplify this design process. Here, we…
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…
Dropped head syndrome, caused by neck muscle weakness from neurological diseases, severely impairs an individual's ability to support and move their head, causing pain and making everyday tasks challenging. Our long-term goal is to develop…
Current approaches to humanoid control generally fall into two paradigms: perceptive locomotion, which handles terrain well but is limited to pedal gaits, and general motion tracking, which reproduces complex skills but ignores…
The kinematics of human movements and locomotion are closely linked to the activation and contractions of muscles. To investigate this, we present a multimodal dataset with benchmarks collected using a novel pair of Intelligent Knee Sleeves…
Gait adaptation is an important part of gait analysis and its neuronal origin and dynamics has been studied extensively. In neurorehabilitation, it is important as it perturbs neuronal dynamics and allows patients to restore some of their…
In critical applications, including search-and-rescue in degraded environments, blockages can be prevalent and prevent the effective deployment of certain sensing modalities, particularly vision, due to occlusion and the constrained range…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
Autonomous space operations such as on-orbit servicing and active debris removal demand robust part-level semantic understanding and precise relative navigation of target spacecraft, yet collecting large-scale real data in orbit remains…
Navigating safely in urban environments remains a challenging problem for autonomous vehicles. Occlusion and limited sensor range can pose significant challenges to safely navigate among pedestrians and other vehicles in the environment.…
Passive deformation due to compliance is a commonly used benefit of soft robots, providing opportunities to achieve robust actuation with few active degrees of freedom. Soft growing robots in particular have shown promise in navigation of…
Human walkers traverse diverse environments and demonstrate different gait locomotion and energy cost on granular terrains compared to solid ground. We present a stiffness-based model predictive control approach of knee exoskeleton…