Related papers: Heterogeneous inputs to central pattern generators…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
In this paper, we take an initial and novel step toward characterizing the physics of the hovering phenomenon in flapping insects and hummingbirds as a new class of extremum seeking (ES) feedback systems. By characterizing hovering flight…
Insects have tiny brains but complicated visual systems for motion perception. A handful of insect visual neurons have been computationally modeled and successfully applied for robotics. How different neurons collaborate on motion…
Flapping-wing robots offer significant versatility; however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of a novel tailless flapping-wing robot with three…
This paper introduces a new wheel-legged robot and develops motion controllers based on central pattern generators (CPGs) for the robot to navigate over a range of terrains. A transformable leg-wheel design is considered and characterized…
The centimeter-scale cyborg insects have a potential advantage for application in narrow environments where humans cannot operate. To realize such tasks, researchers have developed a small printed-circuit-board (PCB) which an insect can…
Animals often exhibit changes in their behavior during migration. Telemetry data provide a way to observe geographic position of animals over time, but not necessarily changes in the dynamics of the movement process. Continuous-time models…
To date, the mechanisms underlying the diversity of the emergent patterns of collective motion in locust hopper bands remain to be unveiled. This study investigates the role of speed heterogeneity in the emergence of the most common…
Efficient navigation in swarms often relies on the emergence of decentralized approaches that minimize traversal time or energy. Stigmergy, where agents modify a shared environment that then modifies their behavior, is a classic mechanism…
We present a novel generative model, called Bidirectional GaitNet, that learns the relationship between human anatomy and its gait. The simulation model of human anatomy is a comprehensive, full-body, simulation-ready, musculoskeletal model…
Exoskeletons have been shown to effectively assist humans during steady locomotion. However, their effects on non-steady locomotion, characterized by nonlinear phase progression within a gait cycle, remain insufficiently explored,…
We use a computational model to propose a physiological mechanism by which transient control of beta oscillations in the indirect pathway of the basal ganglia is orchestrated at the cellular level. Our model includes a simple and robust…
The time elapsed model describes the firing activity of an homogeneous assembly of neurons thanks to the distribution of times elapsed since the last discharge. It gives a mathematical description of the probability density of neurons…
Epilepsy creates a persistent increase in the probability of spontaneous seizures. An ictal episode evolves due to acute disturbance of the fine-tuned balance between excitatory vs. inhibitory inputs within a neural network in favor of…
Walking is a common bipedal and quadrupedal gait and is often associated with terrestrial and aquatic organisms. Inspired by recent evidence of the neural underpinnings of primitive aquatic walking in the little skate Leucoraja erinacea, we…
This work presents algorithms for the feedback-stabilised walking of bipedal humanoid robotic platforms, along with the underlying theoretical and sensorimotor frameworks required to achieve it. Bipedal walking is inherently complex and…
In recent years, single modality based gait recognition has been extensively explored in the analysis of medical images or other sensory data, and it is recognised that each of the established approaches has different strengths and…
Models of bipedal locomotion are hybrid, with a continuous component often generated by a Lagrangian plus actuators, and a discrete component where leg transfer takes place. The discrete component typically consists of a locally embedded…
Successfully achieving bipedal locomotion remains challenging due to real-world factors such as model uncertainty, random disturbances, and imperfect state estimation. In this work, we propose a novel metric for locomotive robustness -- the…
It is well known that the addition of noise in a multistable system can induce random transitions between stable states. The rate of transition can be characterised in terms of the noise-free system's dynamics and the added noise: for…