Robust and Expressive Humanoid Motion Retargeting via Optimization-Based Rig Unification - 2025-10-19 - Research Publication - The pipeline maps motion-capture or RGB pose estimates into a common rig, then corrects infeasible poses, foot contact, self-collision and trajectory smoothness before robot-specific retargeting. Evaluation spans twelve… - source: doi.org
A Hybrid Dynamic Model for the AMBIDEX Tendon-Driven Manipulator - Research Publication - The model augments rigid multibody dynamics with configuration-dependent viscous-Coulomb friction and a recurrent neural network for tendon behavior and joint-angle observation. Validation covers both a two-degree-of-freedom tendon… - source: doi.org