Benefits of an Active Spine Supported Bounding Locomotion With a Small Compliant Quadruped Robot

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Investigating the neuromechanical control of healthy gait modulation and pathological gaits observed in cerebral palsy using neuromuscular simulations

Locomotion is based on a sophisticated interaction among the environment, the musculoskeletal system, the spinal cord, and the brain locomotor areas. Quality of life is strongly related to the proper capability of this movement. However, many pathologies, ...

EPFL2023

Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive

Auke Ijspeert, Milad Shafiee Ashtiani, Guillaume Denis Antoine Bellegarda

Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Computational models of CPGs have been widely used for investigating the spinal co ...

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Inferring individual evaluation criteria for reaching trajectories with obstacle avoidance from EEG signals

Aude Billard, José del Rocio Millán Ruiz, Fumiaki Iwane

During reaching actions, the human central nerve system (CNS) generates the trajectories that optimize effort and time. When there is an obstacle in the path, we make sure that our arm passes the obstacle with a sufficient margin. This comfort margin varie ...

Nature Portfolio2023

Exploration-based model learning with self-attention for risk-sensitive robot control

Sudong Lee

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

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The neuromechanics of animal locomotion: From biology to robotics and back

Auke Ijspeert, Pavan P Ramdya

Robotics and neuroscience are sister disciplines that both aim to understand how agile, efficient, and robust locomotion can be achieved in autonomous agents. Robotics has already benefitted from neuromechanical principles discovered by investigating anima ...

AMER ASSOC ADVANCEMENT SCIENCE2023

Integration of feedforward and feedback control in the neuromechanics of vertebrate locomotion: a review of experimental, simulation and robotic studies

Auke Ijspeert

Animal locomotion is the result of complex and multi-layered interactions between the nervous system, the musculo-skeletal system and the environment. Decoding the underlying mechanisms requires an integrative approach. Comparative experimental biology has ...

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Morphological flexibility in robotic systems through physical polygon meshing

Jamie Paik, Christoph Heinrich Belke, Kevin Andrew Holdcroft, Alexander Thomas Sigrist

Shape-changing robots adapt their own morphology to address a wider range of functions or environments than is possible with a fixed or rigid structure. Akin to biological organisms, the ability to alter shape or configuration emerges from the underlying m ...

Nature Portfolio2023

Reinforcement learning for scaffold-free construction of spanning-structures

Gabriel Rémi Vallat, Anna Maria Maddux, Jingwen Wang, Maryam Kamgarpour, Stefana Parascho

In construction robotics, a conventional design-to-fabrication work-flow starts with designing a structure, followed by task and robotic motion planning, and ultimately, fabrication. However, this approach can prove unsuccessful, as we may only discover th ...

New York2023

Avian-Inspired Claws Enable Robot Perching or Walking

Dario Floreano, William John Stewart, Won Dong Shin, Mohammad Askari

Multimodal unmanned aerial vehicles (UAVs) are rarely capable of more than two modalities, i.e., flying and walking or flying and perching. However, being able to fly, perch, and walk could further improve their usefulness by expanding their operating enve ...

2023

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

Hala Khodr

Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

EPFL2023

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