Kamilo Andres Melo Becerra

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Undulatory swimming represents an ideal behavior to investigate locomotion control and the role of the underlying central and peripheral components in the spinal cord. Many vertebrate swimmers have central pattern generators and local pressure-sensitive re ...

Purpose - IEEE Ontologies for Robotics and Automation Working Group were divided into subgroups that were in charge of studying industrial robotics, service robotics and autonomous robotics. This paper aims to present the work in-progress developed by the ...

Many species such as eels, lampreys and leeches generate undulatory swimming locomotion adaptively. It is said that this coordinated locomotive patterns are produced by central pattern generators (CPGs) which generate rhythmic activities without any rhythm ...

Aquatic stepping gaits in animals arguably display higher speed performance as well as energetic efficiency compared to other gaits using the limbs (i.e walking). This suggest that the foot structure and function contributes at a great extent on the propul ...

Search and rescue (SAR) missions are being carried out by several types of robots. They include ground, marine and air vehicles depending on the terrain and mission to be tackled. A particular niche for SAR activities are shallow waters. They present high ...

This paper presents an algorithm to calculate mechanical stability margins of a Modular Snake Robot (MSR) during scouting poses. Scouting poses are defined as robot configurations in which one or two of the end modules of the robot are raised up to increas ...

Robotic technologies, whether they are remotely operated vehicles, autonomous agents, assistive devices, or novel control interfaces, offer many promising capabilities for deployment in real‐world environments. Postdisaster scenarios are a particularly rel ...

In early 2016, we had the opportunity to test a pair of sprawling posture robots, one designed to mimic a crocodile and another designed to mimic a monitor lizard, along the banks of the Nile River in Uganda, Africa. These robots were developed uniquely fo ...

More and more biologically inspired robots present spines with multiples degrees of freedom to resemble their biological counterparts. The function of the spine on both animal and robot can play an important role in locomotion. If it has enough degrees of ...

In this paper we introduce a body-compliant Modular Snake Robot executing rolling gaits on different cylindrical geometries. In the state of the art it is considered that an active shape adaptation to the terrain while a gait is executed produces better pe ...

Visual information is heavily used in robotics, in particular for SLAM applications. Visual SLAM algorithms depend on robust feature extraction and reliable state estimation. Quality of the visual information highly depends on how that information is captu ...

This paper presents the results of a study on the effect of in-series compliance on the locomotion of a simulated 8-DoF Lola-OP Modular Snake Robot with added compliant elements. We explore whether there is an optimal stiffness for gait, terrain type, or s ...

Model Predictive Control is becoming more and more present in robotic applications. It has been successfully used in control of humanoid robots to adjust positions of the footsteps in order to satisfy stability constraints. In this paper we show how to ada ...

This paper is associated with a video winner of a 2023 American Physical Society’s Division of Fluid Dynamics (DFD) Gallery of Fluid Motion Award for work presented at the DFD Gallery of Fluid Motion. ...

Kamilo Andres Melo Becerra

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Emergence of robust self-organized undulatory swimming based on local hydrodynamic force sensing

Requirements for building an ontology for autonomous robots

Undulatory Swimming Locomotion Driven by CPG with Multimodal Local Sensory Feedback

Adaptive Compliant Foot Design for Salamander Robots

Inverse kinematics and reflex based controller for body-limb coordination of a salamander-like robot walking on uneven terrain

Mechanical Stability Margin for Scouting Poses in Modular Snake Robots

The current state and future outlook of rescue robotics

Animal robots in the African wilderness: Lessons learned and outlook for field robotics

Spine Controller for a Sprawling Posture Robot

Compliant snake robot locomotion on horizontal pipes

Where to place cameras on a snake robot: Focus on camera trajectory and motion blur

Role of Compliance on the Locomotion of a Reconfigurable Modular Snake Robot

Model predictive control based framework for CoM control of a quadruped robot

Kinematic and dynamic analysis of the mosquito larvae gait

Undulatory swimming control with local exteroceptive sensory feedback

Fast state-switching of a jamming-based foot

Performance tradeoffs in anguilliform swimming via viscoelastic modulation

Eel-like robot swims more efficiently with increasing joint amplitudes compared to constant joint amplitudes