Related papers: Review: CPG as a controller for biomimetic floatin…

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…

Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…

Nature uses elongated shapes and filaments to build stable structures, generate motion, and allow complex geometric interactions. In this Review, we examine the role of biological filaments across different length scales. From the molecular…

Behavioral changes in animals and humans, as a consequence of an error or a verbal instruction, can be extremely rapid. Improvement in behavioral performances are usually associated in machine learning and reinforcement learning to synaptic…

This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…

In this paper we address the problem of robot movement adaptation under various environmental constraints interactively. Motion primitives are generally adopted to generate target motion from demonstrations. However, their generalization…

This paper introduces collaborating robots which provide the possibility of enhanced task performance, high reliability and decreased. Collaborating-bots are a collection of mobile robots able to self-assemble and to self-organize in order…

Robotic vision introduces requirements for real-time processing of fast-varying, noisy information in a continuously changing environment. In a real-world environment, convenient assumptions, such as static camera systems and deep learning…

Living organisms interact with their surroundings in a closed-loop fashion, where sensory inputs dictate the initiation and termination of behaviours. Even simple animals are able to develop and execute complex plans, which has not yet been…

Aquatic creatures exhibit remarkable adaptations of their body to efficiently interact with the surrounding fluid. The tight coupling between their morphology, motion, and the environment are highly complex but serves as a valuable example…

Developing robotic intelligent systems that can adapt quickly to unseen wild situations is one of the critical challenges in pursuing autonomous robotics. Although some impressive progress has been made in walking stability and skill…

We propose a neural information processing system which is obtained by re-purposing the function of a biological neural circuit model, to govern simulated and real-world control tasks. Inspired by the structure of the nervous system of the…

This paper proposes a novel control framework for agile and robust bipedal locomotion, addressing model discrepancies between full-body and reduced-order models. Specifically, assumptions such as constant centroidal inertia have introduced…

Many different robots have been designed and built to work under water. In many cases, researchers have chosen to use bio-inspired platforms. In most cases, the main goal of the fish inspired robots has been set to autonomously swim and…

Anthropomimetic robots are robots that sense, behave, interact and feel like humans. By this definition, anthropomimetic robots require human-like physical hardware and actuation, but also brain-like control and sensing. The most…

For decades, robotics researchers have pursued various tasks for multi-robot systems, from cooperative manipulation to search and rescue. These tasks are multi-robot extensions of classical robotic tasks and often optimized on dimensions…

We analyse the neural dynamics and its relation with the emergent behaviour of a robotic vehicle that is controlled by a neural network numerical simulation based on the nervous system of the nematode Caenorhabditis elegans. The robot…

Performing highly agile dynamic motions, such as jumping or running on uneven stepping stones has remained a challenging problem in legged robot locomotion. This paper presents a framework that combines trajectory optimization and model…

The levels of agility and flight or swimming performance demonstrated by insects, birds, fish, and even some aquatic invertebrates, are often vastly superior to what even the most advanced human-engineered vehicles operating in the same…

We analyse the dynamics of networks in which a central pattern generator (CPG) transmits signals along one or more feedforward chains in a synchronous or phase-synchronous manner. Such propagating signals are common in biology, especially…