Self-organized adaptive legged locomotion in a compliant quadruped robot

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Gait impairments is a common condition in post-stroke subjects. We recently presented a wearable ankle exoskeleton called G-Exos, which showed that the device assisted in the ankle's dorsiflexion and inversion/reversion movements. The aim of the current pi ...

The growing demand for online gait phase (GP) estimation, driven by advancements in exoskeletons and prostheses, has prompted numerous approaches in the literature. Some approaches explicitly use time, while others rely on state variables to estimate the G ...

Accurate real-time estimation of the gait phase (GP) is crucial for many control methods in exoskeletons and prostheses. A class of approaches to GP estimation construct the phase portrait of a segment or joint angle, and use the normalized polar angle of ...

Objective. Powered lower-limb prostheses relying on decoding motor intentions from non-invasive sensors, like electromyographic (EMG) signals, can significantly improve the quality of life of amputee subjects. However, the optimal combination of high decod ...

In this paper, we propose a metric called hitting flux which is used in the motion generation and controls for a robot manipulator to interact with the environment through a hitting or a striking motion. Given the task of placing a known object outside of ...

Inertial measurement unit (IMU) sensors are widely used for motion analysis in sports and rehabilitation. The attachment of IMU sensors to predefined body segments and sides (left/right) is complex, time-consuming, and error-prone. Methods for solving the ...

In control system networks, reconfiguration of the controller when agents are leaving or joining the network is still an open challenge, in particular when operation constraints that depend on each agent's behavior must be met. Drawing our motivation from ...

Daily manipulation tasks are characterized by regular features associated with the task structure, which can be described by multiple geometric primitives related to actions and object shapes. Only using Cartesian coordinate systems cannot fully represent ...

Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...

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 ...

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 ...

Systematic extraction of locally valid dynamic models from experiments is necessary for controller design and the validation of high fidelity models. This paper describes the extraction of a dynamic model in the form of a transfer function, giving the dyna ...

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 ...

Self-organized adaptive legged locomotion in a compliant quadruped robot

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Immediate effect of ankle exoskeleton on spatiotemporal parameters and center of pressure trajectory after stroke

State-Based Versus Time-Based Estimation of the Gait Phase for Hip Exoskeletons in Steady and Transient Walking

Gait Phase Estimation in Steady Walking: A Comparative Study of Methods Based on the Phase Portrait of the Hip Angle

Early decoding of walking tasks with minimal set of EMG channels

Motion Planning and Inertia Based Control for Impact Aware Manipulation

Automatic Body Segment and Side Recognition of an Inertial Measurement Unit Sensor during Gait

Model Predictive Control for Multi-Agent Systems under Limited Communication and Time-Varying Network Topology

A geometric optimal control approach for imitation and generalization of manipulation skills

Learning and optimization of anticipatory feedback controllers for robot manipulation

Data-driven and Safe Networked Control with Applications to Microgrids

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

Systematic extraction of a control-oriented model from perturbative experiments and SOLPS-ITER for emission front control in TCV

A computational modeling approach to study the neuromechanics of terrestrial locomotion