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Limbless locomotors, from microscopic worms to macroscopic snakes, traverse complex, heterogeneous natural environments typically using undulatory body wave propagation. Theoretical and robophysical models typically emphasize body…
Gait synchronization in pedestrians is influenced by biomechanical, environmental, and cognitive factors. Studying gait in ecological settings provides insights often missed in controlled experiments. This study tackles the challenges of…
The robust balancing capability of humanoids is essential for mobility in real environments. Many studies focus on implementing human-inspired ankle, hip, and stepping strategies to achieve human-level balance. In this paper, a robust…
Symmetry manifests itself in legged locomotion in a variety of ways. No matter where a legged system begins to move periodically, the torso and limbs coordinate with each other's movements in a similar manner. Also, in many gaits observed…
Collective motion of cells is critical to some of the most vital tasks including wound healing, development, and immune response [Friedl and Gilmour 2009; Tokarski et al. 2012; Lee et al. 2012; Beltman et al. 2009], and is common to many…
Animal behavior spans many timescales, from short, seconds-scale actions to circadian rhythms over many hours to life-long changes during aging. Most quantitative behavior studies have focused on short-timescale behaviors such as locomotion…
Like a rocket being propelled into space, evolution has engineered flies to launch into adulthood via multiple stages. Flies develop and deploy two distinct bodies, linked by the transformative process of metamorphosis. The fly larva is a…
This paper analyses joint-space walking mechanisms and redundancies in delivering functional gait outcomes. Multiple biomechanical measures are analysed for two healthy male adults who participated in a multi-factorial study and walked…
We present a framework for learning a single policy capable of producing all quadruped gaits and transitions. The framework consists of a policy trained with deep reinforcement learning (DRL) to modulate the parameters of a system of…
Motivated by a possible convergence of terrestrial limbless locomotion strategies ultimately determined by interfacial effects, we show how both 3D gait alterations and locomotory adaptations to heterogeneous terrains can be understood…
Movement in biology is often achieved with distributed control of coupled subcomponents, e.g. muscles and limbs. Coupling could range from weak and local, i.e. decentralized, to strong and global, i.e. centralized. We developed a model-free…
Collective motion of bird flocks can be explained via the hypothesis of many wrongs, and/or, a structured leadership mechanism. In pigeons, previous studies have shown that there is a well-defined hierarchical structure and certain specific…
This study focuses on improving the ability of cyborg insects to navigate autonomously during search and rescue missions in outdoor environments. We propose an algorithm that leverages data from an IMU to calculate orientation and position…
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…
This paper proposes a novel orientation-aware model predictive control (MPC) for dynamic humanoid walking that can plan footstep locations online. Instead of a point-mass model, this work uses the augmented single rigid body model (aSRBM)…
We present a new approach for understanding the periodicity structure and semantics of motion datasets, independently of the morphology and skeletal structure of characters. Unlike existing methods using an overly sparse high-dimensional…
Understanding the mechanics behind the coordinated movement of mobile animal groups (collective motion) provides key insights into their biology and ecology, while also yielding algorithms for bio-inspired technologies and autonomous…
Animal locomotion employs different periodic patterns known as animal gaits. In 1993 Collins and Stewart achieved the characterization in quadrupeds and bipeds by using permutation symmetries groups which impose constrains in the locomotion…
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…
Bipedal walking is one of the most important hallmarks of human that robots have been trying to mimic for many decades. Although previous control methodologies have achieved robot walking on some terrains, there is a need for a framework…