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

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A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation of algorithms t ...

Photorealistic synthetic data and novel rendering techniques significantly advanced computer vision research. However, datasets focused on computer vision applications cannot be easily applied to robotics because they typically lack physics-related informa ...

For robots to operate in unstructured environments, they are required to interact with objects through contact. Those contacts may be used to push objects to the side, deform objects, or manipulate objects in-hand. This thesis addresses the problem of cont ...

Compared with traditional in-pipe robots, tensegrity robots have exhibited many advantages such as light-weight, compliant, collapsible, low-cost, and rapidly manufacturable characteristics. However, published tensegrity in-pipe robots still have limited l ...

Industrial robots have been programmed to optimize mass production by executing predefined trajectories with their high speed, precision, and repeatability over long production cycles. However, the rise of Industry 4.0 and the increasing demand for diverse ...

Implementing virtual fixtures in guiding tasks constrains the movement of the robot's end effector to specific curves within its workspace. However, incorporating guiding frameworks may encounter discontinuities when optimizing the reference target positio ...

Beliefs inform the behaviour of forward-thinking agents in complex environments. Recently, sequential Bayesian inference has emerged as a mechanism to study belief formation among agents adapting to dynamical conditions. However, we lack critical theory to ...

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

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 ...

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, ...

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 ...

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 ...

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 ...

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 ...

The study of non-contact manipulation in water, and the ability to robotically control floating objects has gained recent attention due to wide-ranging potential applications, including the analysis of plastic pollution in the oceans and the optimization o ...

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 ...

A multi-agent system consists of a collection of decision-making or learning agents subjected to streaming observations from some real-world phenomenon. The goal of the system is to solve some global learning or optimization problem in a distributed or dec ...

In this article, we study the problem of Byzantine fault-tolerance in a federated optimization setting, where there is a group of agents communicating with a centralized coordinator. We allow up to

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Byzantine-faulty agents, which may not follow a prescr ...

The adaptive social learning paradigm helps model how networked agents are able to form opinions on a state of nature and track its drifts in a changing environment. In this framework, the agents repeatedly update their beliefs based on private observation ...

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

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Principles and Guidelines for Evaluating Social RobotNavigation Algorithms

GRADE: Generating Realistic and Dynamic Environments for robotics research with Isaac Sim

A Stochastic Approach to Contact-rich Manipulation

SUTBot: A Soft Umbrella-like Tensegrity Robot with Elastic Struts for In-pipe Locomotion

An augmented reality-based wearable system for handheld-free and intuitive robot programming

A Minimum-Jerk Approach to Handle Singularities in Virtual Fixtures

Stochastic pairwise preference convergence in Bayesian agents

Online Multicontact Receding Horizon Planning via Value Function Approximation

Memento Mori: Reliable robustness in self-reconfigurable modular robots

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

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

Neuromechanical Simulations of Animats with Decentralised Control

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

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

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

Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles

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

Multi-agent Learning with Privacy Guarantees

Byzantine Fault-Tolerance in Federated Local SGD Under 2f-Redundancy

Discovering Influencers in Opinion Formation Over Social Graphs