Controlling swimming and crawling in a fish robot using a central pattern generator

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Publications associées (31)

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

Data-driven and Safe Networked Control with Applications to Microgrids

Mustafa Sahin Turan

Today, automatic control is integrated into a wide spectrum of real-world systems such as electrical grids and transportation networks. Many of these systems comprise numerous interconnected agents, perform safety-critical operations, or generate large amo ...

EPFL2022

Controlling Maneuverability of a Bio-Inspired Swimming Robot Through Morphological Transformation

Nana Obayashi, Josephine Anna Eleanor Hughes, Kai Christian Junge, Francesco Stella

Biology provides many examples of where body adaption can be used to achieve a change in functionality. The feather star, an underwater crinoid which uses feather arms to locomote and feed, is one such system; it releases its arms to distract prey and vary ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Comparison of PI and Adaptive Fuzzy Controllers for Position Tracking of Servo System with Variable Loaded BLDC Motor

Hadi Ardiny

In recent years, several industries have widely applied BLDC servomotors for various purposes that they almost need a control system to be accurate and robust. In this paper, we compare an adaptive fuzzy controller and PI controller for BLDC servomotor pos ...

IEEE2022

Distributed neural network control with dependability guarantees: a compositional port-Hamiltonian approach

Giancarlo Ferrari Trecate, Clara Lucía Galimberti, Muhammad Zakwan, Luca Furieri

Large-scale cyber-physical systems require that control policies are distributed, that is, that they only rely on local real-time measurements and communication with neighboring agents. Optimal Distributed Control (ODC) problems are, however, highly intrac ...

2022

Scalable Fabrication and Actuation of a Human Inspired Hand Through 3D Printed Flexures and Combinatorial Actuation

Josephine Anna Eleanor Hughes, Kai Christian Junge, Carlo Bosio

The fabrication and control of robot hands with biologically inspired structure remains challenging due to its cost and complexity. In this paper we explore how widely available FDM printers can be used to fabricate complex hand structures by leveraging co ...

FRONTIERS MEDIA SA2022

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

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

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

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

Mohamed Bouri, Auke Ijspeert, 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

A Novel Macro-Micro Approach for Swimming Analysis in Main Swimming Techniques Using IMU Sensors

Kamiar Aminian, Farzin Dadashi, Mahdi Hamidi Rad, Vincent Gremeaux

Inertial measurement units (IMU) are proven as efficient tools for swimming analysis by overcoming the limits of video-based systems application in aquatic environments. However, coaches still believe in the lack of a reliable and easy-to-use analysis syst ...

FRONTIERS MEDIA SA2021

Swimming Phase-Based Performance Evaluation Using a Single IMU in Main Swimming Techniques

Kamiar Aminian, Farzin Dadashi, Fabien Massé, Mahdi Hamidi Rad, Vincent Gremeaux

Comprehensive monitoring of performance is essential for swimmers and swimming coaches to optimize the training. Regardless of the swimming technique, the swimmer passes various swimming phases from wall to wall, including a dive into the water or wall pus ...

FRONTIERS MEDIA SA2021

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

Auke Ijspeert, Azhar Aulia Saputra

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

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