Physics simulation offers the possibility of truly responsive and realistic animation. Despite
wide adoption of physics simulation for the animation of passive phenomena, such as fluids …

We present a technique for automatically synthesizing walking and running controllers for
physically-simulated 3D humanoid characters. The sagittal hip, knee, and ankle degrees-of …

Neuromechanical simulations have been used to study the spinal control of human
locomotion which involves complex mechanical dynamics. So far, most neuromechanical …

Described is a system for system for gait intervention and fall prevention. The system is
incorporated into a body suit having a plurality of distributed sensors and a vestibulo …

We present an optimization-based control strategy for generating whole-body trajectories for
humanoid robots in order to minimize damage due to falling. In this work, the falling problem …

Classic control theory applied to compliant and soft robots generally involves an increment
of computation that has no equivalent in biology. To tackle this, morphological computation …

Advances in legged robotics are strongly rooted in animal observations. A clear illustration
of this claim is the generalization of Central Pattern Generators (CPG), first identified in the …

Determining the degrees of freedom (DOF) of the linked rigid-body model, representing a
multi-body motion of the human lower extremity, is one of the most important procedures in …

This paper presents a model of environment-human body interaction, which is critical for us
to perform balanced motions such as locomotion and activities of daily living while standing …

This study generates and analyzes unsafe human motions that cannot be measured
experimentally in laboratories with dynamic consistency. Detailed whole-body motions are …