In this paper, we present a system that enables humanoid robots to imitate complex whole-
body motions of humans in real time. In our approach, we use a compact human model and …

Researchers dream of developing autonomous humanoid robots which behave/walk like a
human being. Biped robots, although complex, have the greatest potential for use in human …

Physically based simulation of human motions is an important issue in the context of
computer animation, robotics and biomechanics. We present a new technique for allowing …

A popular hypothesis regarding legged locomotion is that humans and other large animals
walk and run in a manner that minimizes the metabolic energy expenditure for locomotion …

Large-scale human motion databases are key for research questions ranging from human
motion analysis and synthesis, biomechanics of human motion, data-driven learning of …

Mechanical figures that mimic human motions continue to entertain us and capture our
imagination. Creating such automata requires expertise in motion planning, knowledge of …

In this paper, the imitation of human captured motions by a humanoid robot is considered.
The main objective is to reproduce an imitated motion which should be as close as possible …

Robotic creatures are capable of entering hazardous environments instead of human
workers, but it is challenging to develop a fully autonomous agent that can work …

This paper presents a control framework for humanoid robots that uses all joints
simultaneously to track motion capture data and maintain balance. The controller comprises …

We present an end-to-end framework which equips robots with the capability to perform
reaching motions in a natural human-like fashion. A markerless, high-accuracy, model …