9 accepted papers
Sit-to-stand (STS) transfer is a fundamental but challenging movement that plays a vital role in older adults' daily activities. The decline in muscular strength and coordination ability can result in difficulties performing STS and, therefore, the need for mobility assistance by humans or assistive
The advancement and development of human modeling have greatly benefited from principles used in robotics, for instance, multibody dynamics laid the foundations for physics engines of human movement simulation, and the robotics and control theory were used to contextualize human sensorimotor control
In order to prepare humanoid robots for real-world applications, it is necessary to assess the robots' locomotion performance and to determine their readiness level. We have carried out an extensive statistical literature review of 204 publications evaluating what kind of benchmarking scenarios and
The area of autonomous mapping and autonomous maintenance using unmanned robots has received much attention in recent years. However, usually only single-view coverage is ensured, which is not sufficient if a camera-based three-dimensional reconstruction is desired. If high precision is required for
The contribution of this work is to show that real-time nonlinear model predictive control (NMPC) can be implemented on position controlled humanoid robots. Following the idea of “walking without thinking,” we propose a walking pattern generator that takes into account simultaneously the position an
COCoMoPL is a recently developed approach combining optimal control, movement primitives and learning for the generation of humanoid walking motions (Clever et al. Robot. Auton. Syst., vol. 83, pp. 287.298, 2016). It solves optimal control problems based on detailed dynamic models of the robot for a
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 present a study that models the interaction between a human mod
In this paper we present a method that uses optimal control for offline human gait synthesis that does not depend on motion capture data or task-specific controllers. Our method is based on efficient simulation of rigid multibody systems and a direct multiple-shooting method to solve the underlying
The MOBOT* project aims to develop assistive devices that support elderly patients with mobility disabilities during gait and sit-to-stand (STS) transfer. The device is supposed to help such patients to maintain an independent life through mobility as well as to regain basic life skills since self-e…