Capture-Point Based Balance and Reactive Omnidirectional Walking Controller

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In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) height assumption of the linear inverted pendulum model (LIPM) and generate a w ...

In this letter, we propose a real-time self-collision avoidance approach for whole-body humanoid robot control. To achieve this, we learn the feasible regions of control in the humanoid's joint space as smooth self-collision boundary functions. Collision-f ...

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Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a large range of control methods. The goal of this paper is to review and classify these control strategies, that determine how these devices interact with the user. Met ...

Walking/gait speed is a key measure for daily mobility characterization. To date, various studies have attempted to design algorithms to estimate walking speed using an inertial sensor worn on the lower back, which is considered as a proper location for ac ...

A bio-inspired way to model locomotion is using a network of coupled phase oscillators to create a Central Pattern Generator (CPG). The recently developed feedback control method tegotae includes exteroceptive force feedback into the governing phase update ...

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Shape Memory Alloy (SMA) based actuators have become ideal candidates for use in compact and lightweight applications. These smart materials have often been referred to as artificial muscles due to their high work volume density. In this paper, a flexure-b ...

Capture-Point Based Balance and Reactive Omnidirectional Walking Controller

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A unified framework for walking and running of bipedal robots

Real-Time Self-Collision Avoidance in Joint Space for Humanoid Robots

Robotic Elytra: Insect-Inspired Protective Wings for Resilient and Multi-Modal Drones

Spontaneous Gait Transitions of Sprawling Quadruped Locomotion by Sensory-Driven Body-Limb Coordination Mechanisms

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

Review of control strategies for lower-limb exoskeletons to assist gait

Algorithms for Walking Speed Estimation Using a Lower-Back-Worn Inertial Sensor: A Cross-Validation on Speed Ranges

Coupling-dependent convergence behavior of phase oscillators with tegotae-control

Combining Reflexes and External Sensory Information in a Neuromusculoskeletal Model to Control a Quadruped Robot

An untethered mechanically-intelligent inchworm robot powered by a shape memory alloy oscillator