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A Novel Approach for Generalising Walking Gaits across Embodiments and Behaviours

A Novel Approach for Generalising Walking Gaits across Embodiments and Behaviours. Hsiu-Chin Lin 1 , Matthew Howard 2 , and Sethu Vijayakumar 1 1 School of Informatics, University of Edinburgh, United Kingdom 2 Department of Informatics, King’s College London, United Kingdom.

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A Novel Approach for Generalising Walking Gaits across Embodiments and Behaviours

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  1. A Novel Approach for Generalising Walking Gaits across Embodiments and Behaviours Hsiu-Chin Lin1, Matthew Howard2, and Sethu Vijayakumar1 1School of Informatics, University of Edinburgh, United Kingdom2Department of Informatics, King’s College London, United Kingdom • We assume that walking is the combination of consistent characteristics and variations in embodiments and behaviours. • The problem is formalised using a walking phase model • Nullspace learning method is used to generalise a policy that characterises the gait • The policy can serve as reference to quantify pathological gait. • We validate our method on human data with induced abnormality

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