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Locomotion is typically studied either in continuous media where bodies and legs experience forces generated by the flowing medium, or on solid substrates dominated by friction. In the former, centralized coordination is believed to…

Locomotion of legged machines faces the problems of model complexity and computational costs. Algorithms based on complex models and/or reinforcement learning exist to solve the walking control task. In this project, we aim to develop a…

In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary to account for sustained or alternating external forces other than ground-feet reaction, resulting from humanoid-object…

To traverse complex three-dimensional terrainwith large obstacles, animals and robots must transition across different modes. However, the most mechanistic understanding of terrestrial locomotion concerns how to generate and stabilize…

We study a simple two-dimensional model for motion of an elastic filament subject to internally generated stresses and show that wave-like propagating shapes which can propel the filament can be induced by a self-organized mechanism via a…

Locomotion may be induced on three levels. On a classical level, actuators and limbs follow the sequence of open-loop top-down control signals they receive. Limbs may move alternatively on their own, which implies that interlimb…

The gaits of undulating animals arise from a complex interaction of their central nervous system, muscle, connective tissue, bone, and environment. As a simplifying assumption, many previous studies have often assumed that sufficient…

We analyze two- and three-link planar snake-like locomotion and optimize the motion for efficiency. The locomoting system consists of two or three identical inextensible links connected via hinge joints, and the angles between the links are…

Locomotion requires that an animal or robot be able to move itself forward farther than it moves backward in each gait cycle (formally, that it be able to break the symmetry of its interactions with the world). Previous work has established…

We propose an elementary proof based on a penalization technique to show the existence and uniqueness of the solution to a system of variational inequalities modelling the friction-based motion of a two-body crawling system. Here for each…

The problem of biped locomotion at steady speeds is discussed through a Lagrangian formulation developed for velocity-dependent, body driving forces. Human walking on a level surface is analyzed in terms of the data on the resultant…

We analyse a mechanical system in two-dimensional relative motion with friction. Although the system is simple, the peculiar interplay between two kinetic friction forces and gravity leads to the wide range of admissible solutions exceeding…

Intracellular transport processes driven by molecular motors can be described by stochastic lattice models of self-driven particles. Here we focus on bidirectional transport models excluding the exchange of particles on the same track. We…

Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…

The application of biomechanic and motor control models in the control of bidedal robots (humanoids, and exoskeletons) has revealed limitations of our understanding of human locomotion. A recently proposed model uses the potential energy…

We propose a simple friction model for isolated polymer chains on a solid substrate. The chains are pulled at constant velocity by one end, the other end can be trapped on the solid substrate on localised sites. We focus on the energy…

Empirical observations indicate striking similarities among locomotion in terrestrial animals, birds, and fish, but unifying physical grounds are lacking. When applied to efficient locomotion, the analytical mechanics principle of minimum…

This article describes a bipedal walking algorithm with inverse kinematics resolution based solely on geometric methods, so that all mathematical concepts are explained from the base, in order to clarify the reason for this solution. To do…

Despite the extensive presence of the legged locomotion in animals, it is extremely challenging to be reproduced with robots. Legged locomotion is an dynamic task which benefits from a planning that takes advantage of the gravitational pull…

Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP)…