Related papers: Kick control: using the attracting states arising …
We investigate the sensorimotor loop of simple robots simulated within the LPZRobots environment from the point of view of dynamical systems theory. For a robot with a cylindrical shaped body and an actuator controlled by a single…
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…
Which kind of complex behavior may arise from self-organizing principles? We investigate this question for the case of snake-like robots composed of passively coupled segments, with every segment containing two wheels actuated separately by…
How dynamic interactions between nervous system regions in mammals performs online motor control remains an unsolved problem. In this paper we show that feedback control is a simple, yet powerful way to understand the neural dynamics of…
Controlling sensori-motor systems in higher animals or complex robots is a challenging combinatorial problem, because many sensory signals need to be simultaneously coordinated into a broad behavioural spectrum. To rapidly interact with the…
We examine the hypothesis, that short-term synaptic plasticity (STSP) may generate self-organized motor patterns. We simulated sphere-shaped autonomous robots, within the LPZRobots simulation package, containing three weights moving along…
Inspired by spiking neural feedback, we propose a spiking controller for efficient locomotion in a soft robotic crawler. Its bistability, akin to neural fast positive feedback, combined with a sensorimotor slow negative feedback loop,…
We present self-organizing control principles for simulated robots actuated by synthetic muscles. Muscles correspond to linear motors exerting force only when contracting, but not when expanding, with joints being actuated by pairs of…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
Control over the quantum dynamics of chaotic kicked rotor systems is demonstrated. Specifically, control over a number of quantum coherent phenomena is achieved by a simple modification of the kicking field. These include the enhancement of…
One major objective of controlling classical chaotic dynamical systems is exploiting the system's extreme sensitivity to initial conditions in order to arrive at a predetermined target state. In a recent letter [Phys.~Rev.~Lett. 130, 020201…
Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…
The kicked rotor provides a simple yet powerful model for introducing many of the central concepts of classical and quantum chaos. Despite its apparent simplicity, it exhibits rich dynamical behavior and has found applications across a wide…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
In classical dynamical systems, stochastic feedback can stabilize otherwise unstable periodic orbits, giving rise to distinct controlled and uncontrolled phases as the rate of control application is varied. In this work, we apply these…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
Natural organisms can convert environmental stimuli into sensory feedback to regulate their body and realize active adaptivity. However, realizing such a feedback-regulation mechanism in synthetic material systems remains a grand challenge.…
Active matter composed of energy-generating microscopic constituents is a promising platform to create autonomous functional materials. However, the very presence of these microscopic energy sources is what makes active matter prone to…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…