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 …

Computational modeling and simulation of neuromusculoskeletal (NMS) systems enables
researchers and clinicians to study the complex dynamics underlying human and animal …

We introduce Pinocchio, an open-source software framework that implements rigid body
dynamics algorithms and their analytical derivatives. Pinocchio does not only include …

There is growing need for software tools that can accurately simulate the complex dynamics
of modern robots. While a number of candidates exist, the field is fragmented. It is difficult to …

We describe a new method for representing human movement compactly, in terms of a
linear super-imposition of simpler movements termed primitives. This method is a part of a …

Animated characters that move and gesticulate appropriately with spoken text are useful in a
wide range of applications. Unfortunately, this class of movement is very difficult to generate …

We address the problem of creating basis behaviors for modularizing humanoid robot
control and representing human activity. These behaviors, called perceptual-motor …

Robotics applications have hard time constraints and heavy computational burdens that can
greatly benefit from domain-specific hardware accelerators. For the latency-critical problem …

Virtual humans still lack naturalness in their nonverbal behaviour. We present a data-driven
solution that moves towards a more natural synthesis of hand and arm gestures by …

This paper reviews work performed at the Stanford University Aerospace Robotics
Laboratory (ARL) in developing and controlling a multi-manipulator, free-flying space robot …