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An organism's ability to move freely is a fundamental behaviour in the animal kingdom. To understand animal locomotion requires a characterisation of the material properties, as well as the biomechanics and physiology. We present a…
Walking animals, like stick insects, cockroaches or ants, demonstrate a fascinating range of locomotive abilities and complex behaviors. The locomotive behaviors can consist of a variety of walking patterns along with adaptation that allow…
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…
Walking is a common bipedal and quadrupedal gait and is often associated with terrestrial and aquatic organisms. Inspired by recent evidence of the neural underpinnings of primitive aquatic walking in the little skate Leucoraja erinacea, we…
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…
Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between…
Snakes' bodies are covered in scales that make it easier to slide in some directions than in others. This frictional anisotropy allows for sliding locomotion with an undulatory gait, one of the most common for snakes. Isotropic friction is…
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…
Modern quadrupeds are skillful in traversing or even sprinting on uneven terrains in a remote uncontrolled environment. However, survival in the wild requires not only maneuverability, but also the ability to handle potential critical…
We introduce a novel co-design method for autonomous moving agents' shape attributes and locomotion by combining deep reinforcement learning and evolution with user control. Our main inspiration comes from evolution, which has led to wide…
Biomimicry has played a pivotal role in robotics. In contrast to rigid robots, bio-inspired robots exhibit an inherent compliance, facilitating versatile movements and operations in constrained spaces. The robot implementation in…
Animals use limbs for both locomotion and manipulation. We aim to equip quadruped robots with similar versatility. This work introduces a system that enables quadruped robots to interact with objects using their legs, inspired by…
Human motor control remains agile and robust despite limited sensory information for feedback, a property attributed to the body's ability to perform morphological computation through muscle coordination with variable impedance. However, it…
This paper represents an adaptive rhythmic control for a snake-like robot with 25 degrees of freedom. The adaptive gait control is implemented in algorithmic way in simulation and on a real robot. We investigated behavioral and energetic…
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…
Recently, reinforcement learning has become a promising and polular solution for robot legged locomotion. Compared to model-based control, reinforcement learning based controllers can achieve better robustness against uncertainties of…
The natural impedance, or dynamic relationship between force and motion, of a human operator can determine the stability of exoskeletons that use interaction-torque feedback to amplify human strength. While human impedance is typically…
Generating robust locomotion for a humanoid robot in the presence of disturbances is difficult because of its high number of degrees of freedom and its unstable nature. In this paper, we used the concept of Divergent Component of…
While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…
Which kind of complex behavior may arise from self-organizing principles? We investigate this question for the case of snake-like robots composed of passively coupled segments, with every segment containing two wheels actuated separately by…