Recent advances have brought real-time physically based simulation within reach, but simulations are still difficult to control in real time. We present interactive simulations of...
Abstract— For robotic manipulation tasks in uncertain environments, good force control can provide significant benefits. The design of force-controlled actuators typically revo...
- Metabolic studies have shown that there is a metabolic cost associated with carrying load [1]. In previous work, a lightweight, underactuated exoskeleton has been described that ...
This paper presents a computationally efficient method for deriving coordinate representations for the equations of motion and the affine connection describing a class of Lagrangi...
Motion capture is widely used for character animation. One of the major challenges of this technique is how to modify the captured motion in plausible ways. Previous work has focu...