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We propose an approach to produce computer generated holograms (CGH) from RGBD data. Being able to produce CGH from RGBD images simplifies the recording process and results in more realistic reconstruction. A multilayer wavefront recording plane method is described for fast wave propagation, and it is completed with a two-step occlusion culling process to preserve the self-occlusion effect. The approach...
The Dual-SLIP model has been proposed as a walking template that inherently encodes a rich set of human-like features. Previous work has used the 3D Dual-SLIP with bio-inspired leg actuation to generate a human-like dynamic walking gait over a wide range of speeds. The work presented in this paper extends the 3D Dual-SLIP walking strategy to uneven terrain. With nonlinear optimization based on a multiple-shooting...
This paper presents a method for the generation of dynamic walking gaits with a 3D Dual-SLIP model and its application to a simulated Hubo+ based humanoid. Previous approaches with the Dual-SLIP model have only focused on the planar case, wherein self-stable gaits can be found. When extended to 3D here, this model has not been found to exhibit self-stable gaits, requiring new methods for gait optimization...
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