Related papers: Universal features in panarthropod inter-limb coor…
Swarming phenomena are ubiquitous in various physical, biological, and social systems, where simple local interactions between individual units lead to complex global patterns. A common feature of diverse swarming phenomena is that the…
Reinforcement learning method is extremely competitive in gait generation techniques for quadrupedal robot, which is mainly due to the fact that stochastic exploration in reinforcement training is beneficial to achieve an autonomous gait.…
Today's robotic quadruped systems can robustly walk over a diverse range of rough but continuous terrains, where the terrain elevation varies gradually. Locomotion on discontinuous terrains, such as those with gaps or obstacles, presents a…
Movement is a fundamental behaviour of organisms that brings about beneficial encounters with resources and mates, but at the same time exposes the organism to dangerous encounters with predators. The movement patterns adopted by organisms…
Locomotion has seen dramatic progress for walking or running across challenging terrains. However, robotic quadrupeds are still far behind their biological counterparts, such as dogs, which display a variety of agile skills and can use the…
The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…
Brains and sensory systems evolved to guide motion. Central to this task is controlling the approach to stationary obstacles and detecting moving organisms. Looming has been proposed as the main monocular visual cue for detecting the…
We consider a generalization of the so-called elephant random walk by introducing multiple elephants moving along the integer line, $\mathbb{Z}$. When taking a new step, each elephant considers not only its own previous steps but also the…
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…
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…
Neural architectures in organisms support efficient and robust control that is beyond the capability of engineered architectures. Unraveling the function of such architectures is challenging; their components are highly diverse and…
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a large number of possible galloping gaits by categorizing…
Cyborg insects refer to hybrid robots that integrate living insects with miniature electronic controllers to enable robotic-like programmable control. These creatures exhibit advantages over conventional robots in adaption to complex…
The movement of organisms is subject to a multitude of influences of widely varying character: from the bio-mechanics of the individual, over the interaction with the complex environment many animals live in, to evolutionary pressure and…
Motion perception is a critical capability determining a variety of aspects of insects' life, including avoiding predators, foraging and so forth. A good number of motion detectors have been identified in the insects' visual pathways.…
We present the case for developing the tardigrade (Hypsibius exemplaris) into a model organism for systems neuroscience. These microscopic, transparent animals (~300-500 microns) are among the smallest known to possess both limbs (eight)…
Running is a fundamental form of human locomotion and a key task for evaluating neuromuscular control and lower-limb coordination. In recent years, muscle synergy analysis based on surface electromyography (sEMG) has become an important…
We address the challenge of effectively controlling the locomotion of legged robots by incorporating precise frequency and phase characteristics, which is often ignored in locomotion policies that do not account for the periodic nature of…
For a robot to be both autonomous and collaborative requires the ability to adapt its movement to a variety of external stimuli, whether these come from humans or other robots. Typically, legged robots have oscillation periods explicitly…
We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present a…