Inverse kinematics and reflex based controller for body-limb coordination of a salamander-like robot walking on uneven terrain

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In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Computational models of CPGs have been widely used for investigating the spinal co ...

Objective. Studying the neural components regulating movement in human locomotion is obstructed by the inability to perform invasive experimental recording in the human neural circuits. Neuromechanical simulations can provide insights by modeling the locom ...

Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to livin ...

Locomotion is an essential evolutive innovation of living beings that allows them to colonize and dominate the planet. As diverse as animal morphologies are (living) and were (extinct), their locomotion modalities are also diverse. In particular, animal mo ...

Multimodal unmanned aerial vehicles (UAVs) are rarely capable of more than two modalities, i.e., flying and walking or flying and perching. However, being able to fly, perch, and walk could further improve their usefulness by expanding their operating enve ...

Shape-changing robots adapt their own morphology to address a wider range of functions or environments than is possible with a fixed or rigid structure. Akin to biological organisms, the ability to alter shape or configuration emerges from the underlying m ...

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

This paper presents the first successful experiment implementing whole-body model predictive control with state feedback on a torque-control humanoid robot. We demonstrate that our control scheme is able to do whole-body target tracking, control the balanc ...

Robotic systems are more and more present in our daily life. Robots became indeed more economical, easy to program, safe and collaborative in their interaction with humans, versatile in performing different tasks and adaptive towards changes in the environ ...

Inverse kinematics and reflex based controller for body-limb coordination of a salamander-like robot walking on uneven terrain

Chattez avec Graph Search

Implicit Distance Functions: Learning and Applications in Robotics

Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive

Investigating the roles of reflexes and central pattern generators in the control and modulation of human locomotion using a physiologically plausible neuromechanical model

Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot

Beyond undulation! Body morphology and sensing components of elongated animals and robots reveal skills to maintain competent locomotion

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Self-Correcting Quadratic Programming-Based Robot Control

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Exploration-based model learning with self-attention for risk-sensitive robot control

Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos

Control of Contact Tasks in Autonomous and Human-Robot Collaborative Scenarios: A Dynamical System Approach