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

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Technical evaluation of swimming performance is an essential factor in preparing elite swimmers for their competitions. Inertial measurement units (IMUs) have attracted much attention recently because they can provide coaches with a detailed analysis of sw ...

Physical simulation is an indispensable component of robotics simulation platforms that serves as the basis for a plethora of research directions. Looking strictly at robotics, the common characteristic of the most popular physics engines, such as ODE, DAR ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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

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Monitoring weekly progress of front crawl swimmers using IMU-based performance evaluation goal metrics

Gazebo Fluids: SPH-based simulation of fluid interaction with articulated rigid body dynamics

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

A computational modeling approach to study the neuromechanics of terrestrial locomotion

Data-driven and Safe Networked Control with Applications to Microgrids

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

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

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

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

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

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