Related papers: Review: CPG as a controller for biomimetic floatin…
Responding mechanically to environmental requests, muscles show a surprisingly large variety of functions. The studies of in vivo cycling muscles qualified skeletal muscles into four principal locomotor patterns: motor, brake, strut, and…
Keeping the stability can be counted as the essential ability of a humanoid robot to step out of the laboratory to work in our real environment. Since humanoid robots have similar kinematic to a human, humans expect these robots to be…
This paper aims to present a stability control strategy for quadruped robot under lateral impact with the help of lateral trot. We firstly propose five necessary conditions for keeping balance. The classical four-neuron Central Pattern…
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot…
The complexity of a legged robot's environment or task can inform how specialised its gait must be to ensure success. Evolving specialised robotic gaits demands many evaluations - acceptable for computer simulations, but not for physical…
This work aims to combine machine learning and control approaches for legged robots, and developed a hybrid framework to achieve new capabilities of balancing against external perturbations. The framework embeds a kernel which is a fully…
Biology can provide biomimetic components and new control principles for robotics. Developing a robot system equipped with bionic eyes is a difficult but exciting task. Researchers have been studying the control mechanisms of bionic eyes…
Soft robots offer a frontier in robotics with enormous potential for safe human-robot interaction and agility in uncertain environments. A stepping stone towards unlocking their potential is a control theory tailored to soft robotics,…
Recent advancements in adaptive control for reference trajectory tracking enable quadrupedal robots to perform locomotion tasks under challenging conditions. There are methods enabling the estimation of the external disturbances in terms of…
We introduce a novel musculoskeletal model of a dog, procedurally generated from accurate 3D muscle meshes. Accompanying this model is a motion capture-based locomotion task compatible with a variety of control algorithms, as well as an…
Understanding principles of neurolocomotion requires the synthesis of neural activity, sensory feedback, and biomechanics. The nematode \textit{C. elegans} is an ideal model organism for studying locomotion in an integrated neuromechanical…
Artificial neural networks for motor control usually adopt generic architectures like fully connected MLPs. While general, these tabula rasa architectures rely on large amounts of experience to learn, are not easily transferable to new…
In this paper I present some of the most representative biological models applied to robotics. In particular, this work represents a survey of some models inspired, or making use of concepts, by gene regulatory networks (GRNs): these…
We present a novel control strategy for dynamic legged locomotion in complex scenarios, that considers information about the morphology of the terrain in contexts when only on-board mapping and computation are available. The strategy is…
Legged robots are physically capable of navigating a diverse variety of environments and overcoming a wide range of obstructions. For example, in a search and rescue mission, a legged robot could climb over debris, crawl through gaps, and…
The control of bipedal robotic walking remains a challenging problem in the domains of computation and experiment, due to the multi-body dynamics and various sources of uncertainty. In recent years, there has been a rising trend towards…
Recent years have seen a surge in commercially-available and affordable quadrupedal robots, with many of these platforms being actively used in research and industry. As the availability of legged robots grows, so does the need for…
Modern robotic systems are endowed with superior mobility and mechanical skills that make them suited to be employed in real-world scenarios, where interactions with heavy objects and precise manipulation capabilities are required. For…