Effects of passive and active joint compliance in quadrupedal locomotion

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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 ...

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 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 ...

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 ...

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 ...

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 ...

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 ...

In this letter, we present a method for integrating central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework to produce robust and omnidirectional quadruped locomotion. The agent learns to ...

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 ...

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 ...

Deciphering how quadrupeds coordinate their legs and other body parts, such as the trunk, head, and tail (i.e., body-limb coordination), can provide informative insights to improve legged robot mobility. In this study, we focused on sprawling locomotion of ...

Ultrasound can non-invasively detect muscle deformations, which has great potential applications in prosthetic hand control. This research developed a miniaturized ultrasound device that could be integrated into a prosthetic hand socket. This compact syste ...

Quantification of mobility is the key to monitor the progression of mobility disorders as well as the effect of an intervention. Inertial measurement units (IMUs) with dedicated algorithms can quantify postural transitions and gait as the two key aspects o ...

Understanding the influence of running-induced acute fatigue on the homeostasis of the body is essential to mitigate the adverse effects and optimize positive adaptations to training. Fatigue is a multifactorial phenomenon, which influences biomechanical, ...

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 ...

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 ...

Effects of passive and active joint compliance in quadrupedal locomotion

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

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

A computational modeling approach to study the neuromechanics of terrestrial locomotion

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

High light quantity suppresses locomotion in symbiotic Aiptasia

Gait-dependent Traversability Estimation on the k-rock2 Robot

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

CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion

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

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

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

Wearable Ultrasound Interface for Prosthetic Hand Manipulation

Toward an objective assessment of mobility in clinical and daily activity settings

Concurrent Evolution of Biomechanical and Physiological Parameters With Running-Induced Acute Fatigue

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

Variable-Stiffness Tensegrity Modular Robots