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检索条件"机构=Optimization in Robotics and Biomechanics"
28 条 记 录,以下是1-10 订阅
排序:
A Bio-inspired Solution for Double Support Force Distribution in Humanoid Robot Locomotion
A Bio-inspired Solution for Double Support Force Distributio...
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IEEE-RAS International Conference on Humanoid Robots
作者: Francisco Javier Andrade Chavez Vidyasagar Rajendran Katja Mombaur CERC Human-Centred Robotics and Machine Intelligence of Department of Systems Design Engineering University of Waterloo Canada Optimization and Biomechanics for Human-Centred Robotics Karlsruhe Institute of Technology (KIT) Institute of Anthropomatics and Robotics (IAR) Karlsruhe Germany
In locomotion, the likelihood of slipping or maintaining contact is determined by the forces applied in the environment. Therefore, it is crucial to find methods of keeping forces within friction constraints. In singl...
来源: 评论
Whole-body Stabilization of the REEM-C Humanoid on Actuated Balance Boards in Sagittal and Frontal Directions
Whole-body Stabilization of the REEM-C Humanoid on Actuated ...
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IEEE-RAS International Conference on Humanoid Robots
作者: Vidyasagar Rajendran Francisco Javier Andrade Chavez Katja Mombaur Department of Systems Design Engineering CERC Human-Centred Robotics and Machine Intelligence University Waterloo Canada Optimization and Biomechanics for Human-Centred Robotics Institute of Anthropomatics and Robotics (IAR) Karlsruhe Institute of Technology (KIT) Karlsruhe Canada
This paper explores stabilizer design for humanoid balancing on actuated balance boards. We qualitatively study how humans balance on balance boards to motivate our humanoid controller design. The developed approach c...
来源: 评论
Estimating speaker direction on a humanoid robot with binaural acoustic signals
arXiv
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arXiv 2023年
作者: Barot, Pranav Mombaur, Katja MacDonald, Ewen N. Department of Systems Design Engineering University of Waterloo WaterlooON Canada Optimization and Biomechanics for Human-Centred Robotics Karlsruhe Germany and CERC Human-Centred Robotics and Machine Intelligence Department of Systems Design Engineering University of Waterloo Waterloo Canada
To achieve human-like behaviour during speech interactions, it is necessary for a humanoid robot to estimate the location of a human talker. Here, we present a method to optimize the parameters used for the direction ... 详细信息
来源: 评论
An Audio-Video Sensor Fusion Framework To Augment Humanoid Capabilities For Identifying And Interacting With Human Conversational Partners
An Audio-Video Sensor Fusion Framework To Augment Humanoid C...
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IEEE-RAS International Conference on Humanoid Robots
作者: Pranav Barot Ewen N. MacDonald Katja Mombaur Department of Systems Design Engineering University of Waterloo Canada Department of Systems Design Engineering University of Waterloo Optimization and Biomechanics for Human-Centred Robotics Karlsruhe Germany and CERC Human-Centred Robotics and Machine Intelligence Karlsruhe Institute of Technology (KIT) Institute of Anthropomatics and Robotics (IAR) Waterloo Canada
Human robot interaction often requires many sub-systems to work together in order to facilitate more natural and intelligent interactions with multiple humans. For this work, the relevant systems include audio and vis...
来源: 评论
Performance indicators for stability of slackline balancing
Performance indicators for stability of slackline balancing
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IEEE-RAS International Conference on Humanoid Robots
作者: Kevin Stein Katja Mombaur Optimization Robotics and Biomechanics (ORB) Institute of Computer Engineering (ZITI) Heidelberg University Heidelberg Germany
In this study we analyze slackline balancing, a task where the subject has to maintain balance on a narrow elastic ribbon that is mounted between two anchor points. We investigate a list of potential performance indic... 详细信息
来源: 评论
Modelfactory: A matlab/octave based toolbox to create human body models
arXiv
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arXiv 2018年
作者: Sreenivasa, Manish Harant, Monika University of Wollongong Australia Optimization Robotics and Biomechanics Heidelberg University Germany
Model-based analysis of movements can help better understand human motor control. Here, the models represent the human body as an articulated multi-body system that reects the characteristics of the human being studie... 详细信息
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optimization-based analysis of a cartwheel
Optimization-based analysis of a cartwheel
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IEEE International Conference on Biomedical robotics and Biomechatronics
作者: Kevin Stein Katja Mombaur Optimization Robotics and Biomechanics (ORB) Institute of Computer Engineering (ZITI) Heidelberg University
The estimation of acting joint torques and ground reaction forces is of particular interest for the analysis and training of athletic human motions. Modern IMU-based motion capture systems can record the kinematics of... 详细信息
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Optimizing wearable assistive devices with neuromuscular models and optimal control
arXiv
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arXiv 2018年
作者: Sreenivasa, Manish Millard, Matthew Manns, Paul Mombaur, Katja Optimization in Robotics & Biomechanics group Interdisciplinary Center for Scientific Computing Heidelberg University Berlinerstr. 45 Heidelberg69120 Germany
The coupling of human movement dynamics with the function and design of wearable assistive devices is vital to better understand the interaction between the two. Advanced neuromuscular models and optimal control formu... 详细信息
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Influence of compliance modulation on human locomotion
Influence of compliance modulation on human locomotion
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IEEE International Conference on robotics and Automation (ICRA)
作者: Yue Hu Katja Mombaur Optimization in Robotics and Biomechanics (ORB) Heidelberg University Heidelberg Germany
Compliance is an important feature of human locomotion, where many studies have focused on the identification of stiffness parameters in order to build new machines, and stiffness is often assumed to be constant. Howe... 详细信息
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Optimal Push Recovery for Periodic Walking Motions
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IFAC-PapersOnLine 2016年 第14期49卷 93-98页
作者: Schemschat, R. Malin Clever, Debora Felis, Martin L. Mombaur, Katja Optimization in Robotics and Biomechanics Interdisciplinary Center for Scientific Computing Heidelberg University Germany
We study how humans performing periodic walking motions react to strong perturbations that are applied in form of pushes from behind. We propose a computational method that allows to generate optimal recovery motions ... 详细信息
来源: 评论