Recherche

Afficher tous les résultats pour

Accueil

Publication

On-line adapted transition between locomotion and jump

À propos
Confidentialité
Mentions légales

Graph Chatbot

Publications associées (33)

Page 2 sur 2

Adaptive Path Interpolation Method for Sparse Systems: Application to a Censored Block Model

Nicolas Macris, Jean François Emmanuel Barbier, Chun Lam Chan

Recently, a new adaptive path interpolation method has been developed as a simple and versatile scheme to calculate exactly the asymptotic mutual information of Bayesian inference problems defined on dense factor graphs. These include random linear and gen ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

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

A Neural Primitive model with Sensorimotor Coordination for Dynamic Quadruped Locomotion with Malfunction Compensation

Auke Ijspeert

In the field of quadruped locomotion, dynamic locomotion behavior, and rich integration with sensory feedback represents a significant development. In this paper, we present an efficient neural model, which includes CPG and its sensorimotor coordination, a ...

IEEE2020

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

Towards rich motion skills with the lightweight quadruped robot Serval

Auke Ijspeert, Peter Eckert, Tomislav Horvat

Bio-inspired robotic designs introducing and benefiting from morphological aspects present in animals allowed the generation of fast, robust, and energy-efficient locomotion. We used engineering tools and interdisciplinary knowledge transferred from biolog ...

SAGE PUBLICATIONS LTD2020

Generating Smooth Pose Sequences for Diverse Human Motion Prediction

Mathieu Salzmann

Recent progress in stochastic motion prediction, i.e., predicting multiple possible future human motions given a single past pose sequence, has led to producing truly diverse future motions and even providing control over the motion of some body parts. How ...

IEEE2021

Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion

Sylvain Calinon, Teguh Santoso Lembono

In this paper, we propose a framework to build a memory of motion for warm-starting an optimal control solver for the locomotion task of a humanoid robot. We use HPP Loco3D, a versatile locomotion planner, to generate offline a set of dynamically consisten ...

IEEE2020

A Muscle-Reflex Model of Forelimb and Hindlimb of Felidae Family of Animal with Dynamic Pattern Formation Stimuli

Auke Ijspeert

Human and animal locomotion are controlled by complex neural circuits, which can also serve as inspiration for designing locomotion controllers for dynamic locomotion in legged robots. We develop a locomotion controller model including a central pattern ge ...

IEEE2020

Adaptive locomotion of artificial microswimmers

Mahmut Selman Sakar, Fazil Emre Uslu

Bacteria can exploit mechanics to display remarkable plasticity in response to locally changing physical and chemical conditions. Compliant structures play a notable role in their taxis behavior, specifically for navigation inside complex and structured en ...

2019

Walking with Salamanders: From Molecules to Biorobotics

Auke Ijspeert

How do four-legged animals adapt their locomotion to the environment? How do central and peripheral mechanisms interact within the spinal cord to produce adaptive locomotion and how is locomotion recovered when spinal circuits are perturbed? Salamanders ar ...

ELSEVIER SCIENCE LONDON2020

Compliance, locomotion and local computation in (self-) reconfigurable modular robots

Simon Lukas Hauser

Animals display an enormous versatility and a remarkable ability to adapt to changes in environment and terrain. Research in bio-inspired robotics strives to transfer these skills to robots, including legged systems. Even though animals seemingly effortles ...

EPFL2019

Amphibious and Sprawling Locomotion: From Biology to Robotics and Back

Auke Ijspeert

A milestone in vertebrate evolution, the transition from water to land, owes its success to the development of a sprawling body plan that enabled an amphibious lifestyle. The body, originally adapted for swimming, evolved to benefit from limbs that enhance ...

2020