Recherche

Afficher tous les résultats pour

Accueil

Publication

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

À propos
Confidentialité
Mentions légales

Graph Chatbot

Publications associées (41)

Page 2 sur 3

Learning Robust and Adaptive Representations: from Interactions, for Interactions

Yuejiang Liu

Interactions are ubiquitous in our world, spanning from social interactions between human individuals to physical interactions between robots and objects to mechanistic interactions among different components of an intelligent system. Despite their prevale ...

EPFL2023

Opinion Formation over Adaptive Networks

Virginia Bordignon

An adaptive network consists of multiple communicating agents, equipped with sensing and learning abilities that allow them to extract meaningful information from measurements. The objective of the network is to solve a global inference problem in a decent ...

EPFL2022

Challenges and approaches in bridging the biomimicry gap in biohybrid systems of fish and robots

Vaios Papaspyros

As the field of ethology advances, especially over the past two decades, the role of animal-robot interaction tools has increasingly become essential. This importance arises from the need for controlled, repetitive, repeatable, and long-duration experiment ...

EPFL2023

Mechanistic Understanding of Neurobehavioral Effects of Insecticides on the Larvae of Zebrafish (Danio rerio)

Sarah-Katharina Könemann

Due to conservation of neuronal functioning across phyla, molecular targets of insecticides are similar in insects and vertebrates. Insecticides thus pose a risk to aquatic vertebrates, such as fish, and potentially cause neurotoxic effects. Although these ...

EPFL2022

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

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

Auke Ijspeert, Kamilo Andres Melo Becerra, Laura Isabel Paez Coy, Robin Thandiackal

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 ...

AMER ASSOC ADVANCEMENT SCIENCE2021

A biohybrid interaction framework for the integration of robots in animal societies

Francesco Mondada, Vaios Papaspyros, Daniel Burnier, Raphael Cherfan

The collective behavior of animals has been traditionally studied through observation, quantitative models of behavior, and devices of low intelligence. Nowadays, the advancements in the field of robotics allow for closed-loop experiments that occur in rea ...

2023

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

Auke Ijspeert, Andrea Di Russo, Dimitar Yuriev Stanev

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 ...

2021

A computational modeling approach to study the neuromechanics of terrestrial locomotion

Shravan Tata Ramalingasetty

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 ...

EPFL2022

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

Murat Kaynak

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 ...

EPFL2021

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

Milad Shafiee Ashtiani

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 ...

IEEE2022

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

Dario Floreano, William John Stewart, Charalampos Vourtsis

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 ...

2021

High light quantity suppresses locomotion in symbiotic Aiptasia

Anders Meibom, Nils Rädecker, Claudia Isabella Pogoreutz

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 ...

2022

Scalable Multi-agent Coordination and Resource Sharing

Panayiotis Danassis

A plethora of real world problems consist of a number of agents that interact, learn, cooperate, coordinate, and compete with others in ever more complex environments. Examples include autonomous vehicles, robotic agents, intelligent infrastructure, IoT de ...

EPFL2022

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

Auke Ijspeert, Mohamed Bouri, Romain Pierre François Baud, Ali Reza Manzoori

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 ...

BioMed Central2021

Advancing coordination control of multi-limb robotic tasks: application to bimanual dynamic manipulation and bipedal reactive locomotion

Michael Bosongo Bombile

Bi-manual picking up of objects to toss them on a conveyor belt are dynamic manipulation activities generated daily in the industry. Such repetitive and physically demanding tasks are still done largely by humans for lack of similarly fast, precise, and ro ...

EPFL2022

Variable-Stiffness Tensegrity Modular Robots

Davide Zappetti

The need for a new generation of robots able to safely locomote and manipulate beside or cooperatively with humans or in un-constructed environments has recently emerged as a priority of the robotics community. ln the past two decades, this challenge has b ...

EPFL2021

The effect of gamified robot-enhanced training on motor performance in chronic stroke survivors

Pierre Dillenbourg, Friedhelm Christoph Hummel, Barbara Bruno, Maximilian Jonas Wessel, Arzu Güneysu Özgür, Andéol Geoffroy Cadic-Melchior, Giulia Dominijanni, Valérie Rita Madeleine Zufferey

Task-specific training constitutes a core element for evidence-based rehabilitation strategies targeted at improving upper extremity activity after stroke. Its combination with additional treatment strategies and neurotechnologybased solutions could furthe ...

ELSEVIER SCI LTD2022

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

Auke Ijspeert

This article examines the importance of integrating locomotion and cognitive information for achieving dynamic locomotion from a viewpoint combining biology and ecological psychology. We present a mammalian neuromusculoskeletal model from external sensory ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

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

Auke Ijspeert, Simon Lukas Hauser, Jonathan Patrick Arreguit O'Neill

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 ...

IEEE2021