Related papers: Adaptive control for hindlimb locomotion in a simu…
Achieving stable and robust perceptive locomotion for bipedal robots in unstructured outdoor environments remains a critical challenge due to complex terrain geometry and susceptibility to external disturbances. In this work, we propose a…
Although the raison d'etre of the brain is the survival of the body, there are relatively few theoretical studies of closed-loop rhythmic motor control systems. In this paper we provide a unified framework, based on variational analysis,…
Developing robust locomotion for humanoid robots is a complex task due to the unstable nature of these robots and also to the unpredictability of the terrain. A robust locomotion planner is one of the fundamental components for generating…
Quadrupedal animals employ diverse galloping strategies to optimize speed, stability, and energy efficiency. However, the biomechanical mechanisms that enable adaptive gait transitions during high-speed locomotion under load remain poorly…
Mammals can generate autonomous behaviors in various complex environments through the coordination and interaction of activities at different levels of their central nervous system. In this paper, we propose a novel hierarchical learning…
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…
For legged robots to match the athletic capabilities of humans and animals, they must not only produce robust periodic walking and running, but also seamlessly switch between nominal locomotion gaits and more specialized transient…
Sidewinding, a locomotion strategy characterized by the coordination of lateral and vertical body undulations, is frequently observed in rattlesnakes and has been successfully reconstructed by limbless robotic systems for effective movement…
We present a nonlinear stochastic model of the human gait control system in a variety of gait regimes. The stride interval time series in normal human gait is characterized by slightly multifractal fluctuations. The fractal nature of the…
The musculoskeletal humanoid is difficult to modelize due to the flexibility and redundancy of its body, whose state can change over time, and so balance control of its legs is challenging. There are some cases where ordinary PID controls…
In recent years, the interdisciplinary research between information science and neuroscience has been a hotspot. In this paper, based on recent biological findings, we proposed a new model to mimic visual information processing, motor…
Optimization of energy cost determines average values of spatio-temporal gait parameters such as step duration, step length or step speed. However, during walking, humans need to adapt these parameters at every step to respond to exogenous…
Overcoming robotics challenges in the real world requires resilient control systems capable of handling a multitude of environments and unforeseen events. Evolutionary optimization using simulations is a promising way to automatically…
In the context of legged robots, adaptive behavior involves adaptive balancing and adaptive swing foot reflection. While adaptive balancing counteracts perturbations to the robot, adaptive swing foot reflection helps the robot to navigate…
The stability of standing in humans is a complex process that leads to maintaining the upright position against external disturbances. Balance control during standing is of vital importance for humans in daily life. An issue that is still…
In exploring the simulation of human rhythmic perception and synchronization capabilities, this study introduces a computational model inspired by the physical and biological processes underlying rhythm processing. Utilizing a reservoir…
Developing a framework for the locomotion of a six-legged robot or a hexapod is a complex task that has extensive hardware and computational requirements. In this paper, we present a bio-inspired framework for the locomotion of a hexapod.…
Cooperative object transport in unstructured environments remains challenging for assistive humanoids because strong, time-varying interaction forces can make tracking-centric whole-body control unreliable, especially in close-contact…
Human locomotion emerges from high-dimensional neuromuscular control, making predictive musculoskeletal simulation challenging. We present a physiology-informed reinforcement-learning framework that constrains control using muscle…
Neuromodulation is central to the adaptation and robustness of animal nervous systems. This paper explores the classical paradigm of indirect adaptive control to design neuromodulatory controllers in conductance-based neuronal models. The…