Dynamic Obstacle Clearing for Real-time Character Animation

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VR (Virtual Reality) is a real-time simulation that creates the subjective illusion of being in a virtual world. This thesis explores how integrating the user's body and fingers can be achieved and beneficial for the user to experience VR. At the advent of ...

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 ...

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, ...

Locomotion is an essential evolutive innovation of living beings that allows them to colonize and dominate the planet. As diverse as animal morphologies are (living) and were (extinct), their locomotion modalities are also diverse. In particular, animal mo ...

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 ...

Objective. Studying the neural components regulating movement in human locomotion is obstructed by the inability to perform invasive experimental recording in the human neural circuits. Neuromechanical simulations can provide insights by modeling the locom ...

The transition from aquatic to terrestrial environments represents a significant event in the history of evolution. For this transition to occur, animals had to adapt their morphology, physiology and locomotory skills to handle the challenges and interacti ...

We interact with the world through a body that includes hands and fingers. Likewise, providing an avatar allowing the control of a virtual body with fingers is an important step to improve the user experience in VR. When the user and their avatar skeleton ...

Background All behaviour requires energy, and measuring energy expenditure in standard units (joules) is key to linking behaviour to ecological processes. Animal-borne accelerometers are commonly used to infer proxies of energy expenditure, termed 'dynamic ...

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 ...

Megapixel single-photon avalanche diode (SPAD) arrays have been developed recently, opening up the possibility of deploying SPADs as general-purpose passive cameras for photography and computer vision. However, most previous work on SPADs has been limited ...

The main theme of my thesis will be to use neuro-muscular modeling techniques to study locomotion of terrestrial mammals. Locomotion is the ability of animals to interact with the environment to propel themselves in space. It involves co-ordination and pre ...

In this paper, we present a novel control architecture for the online adaptation of bipedal locomotion on inclined obstacles. In particular, we introduce a novel, cost-effective, and versatile foot sensor to detect the proximity of the robot's feet to the ...

Many cnidarians engage in endosymbioses with microalgae of the family Symbiodiniaceae. In this association, the fitness of the cnidarian host is closely linked to the photosynthetic performance of its microalgal symbionts. Phototaxis may enable semi-sessil ...

Many aquatic animals propel themselves by flapping their tails. Leveraging a recently proposed snapping cantilever beam based on the concept of flexural tensegrity, we propose a bio-inspired propulsion device. The design comprises a segmental beam with hol ...

Assessing the traversability of rugged terrain is a difficult challenge for legged robots, especially when they implement multiple, distinct gaits. We tackle this problem on the k-rock2 amphibious, sprawling gait robot by training a gait-dependent traversa ...

The central nervous system of humans and other animals modulates spinal cord activity to achieve several locomotion behaviors. Previous neuromechanical models investigated the modulation of human gait changing selected parameters belonging to CPGs (Central ...

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 ...

Winged drones that fly in close proximity to obstacles or that are capable of aerial and terrestrial locomotion can benefit from protective systems that prevent damage to delicate aerial structures. Existing protective solutions focus on multi-copter drone ...

The development of miniaturized machines that can actively cross barriers, navigate through heterogeneous materials and access remote sites can revolutionize environmental inspection and targeted therapy. Seminal work demonstrated the feasibility of follow ...

Dynamic Obstacle Clearing for Real-time Character Animation

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From finger animation to full-body embodiment of avatars with different morphologies and proportions

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

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

Beyond undulation! Body morphology and sensing components of elongated animals and robots reveal skills to maintain competent locomotion

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

Investigating the roles of reflexes and central pattern generators in the control and modulation of human locomotion using a physiologically plausible neuromechanical model

Neuromechanical Simulations of Animats with Decentralised Control

Real-time Self-contact Retargeting of Avatars down to Finger Level

Combining accelerometry with allometry for estimating daily energy expenditure in joules when in-lab calibration is unavailable

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

Seeing Photons in Color

A computational modeling approach to study the neuromechanics of terrestrial locomotion

Online Bipedal Locomotion Adaptation for Stepping on Obstacles Using a Novel Foot Sensor

High light quantity suppresses locomotion in symbiotic Aiptasia

Flexural-tensegrity snapping tails for bio-inspired propulsion in fluids

Gait-dependent Traversability Estimation on the k-rock2 Robot

Sensory modulation of gait characteristics in human locomotion: A neuromusculoskeletal modeling study

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

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

Development of soft microscopic implants and acoustically-powered machines for biomedical applications