4 accepted papers
This work investigates the optimal cost function composition for human gait at different walking speeds. Kinematic and kinetic data for walking at four walking speeds were collected from five individuals without any known disability. The data was then used to recover optimal cost functions in a pred
Predicting object motion behaviour is a challenging but crucial task for safe decision making and path planning for an autonomous vehicle. It is challenging in large part due to the uncertain, multi-modal, and practically intractable set of possible agent-agent and agent-space interactions, especial…
A novel robust and slip-aware speed estimation framework is developed and experimentally verified for mobile robot navigation by designing proprioceptive robust observers at each wheel. The observer for each corner is proved to be consistent, in the sense that it can provide an upper bound of the me
Human gait optimality has been investigated recently, with the development of detailed musculoskeletal models, through trajectory optimization approaches or deep reinforcement learning (DRL). Trajectory optimization studies are limited by the trajectory length and can only generate open-loop solutio