Related papers: Coupled Chaotic Oscillators and Its Relation with …
Irregular, especially chaotic, behavior is often undesirable for economic processes because it presents challenges for predicting their dynamics. In this situation, control of such a process by its mathematical model can be used to suppress…
We study the synchronization of $N$ nearest neighbors coupled oscillators in a ring. We derive an analytic form for the phase difference among neighboring oscillators which shows the dependency on the periodic boundary conditions. At…
Current exoskeleton control methods often face challenges in delivering personalized treatment. Standardized walking gaits can lead to patient discomfort or even injury. Therefore, personalized gait is essential for the effectiveness of…
Terrestrial animals must often negotiate heterogeneous, varying environments. Accordingly, their locomotive strategies must adapt to a wide range of terrain, as well as to a range of speeds in order to accomplish different behavioral goals.…
In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…
Transformers have increasingly become the de facto method to model sequential data with state-of-the-art performance. Due to its widespread use, being able to estimate and calibrate its modeling uncertainty is important to understand and…
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…
Optimizing gait stability for legged robots is a difficult problem. Even on level surfaces, effectively traversing across different textures (e.g., carpet) rests on dynamically tuning parameters in multidimensional space. Inspired by…
This paper proposes Gait Decomposition (G.D), a method of mathematically decomposing snake movements, and Gait Parameter Gradient (GPG), a method of optimizing decomposed gait parameters. G.D is a method that can express the snake gait…
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…
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected…
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…
Networks of chaotic units with static couplings can synchronize to a common chaotic trajectory. The effect of dynamic adaptive couplings on the cooperative behavior of chaotic networks is investigated. The couplings adjust to the activities…
Legged robots with closed-loop kinematic chains are increasingly prevalent due to their increased mobility and efficiency. Yet, most motion generation methods rely on serial-chain approximations, sidestepping their specific constraints and…
Two symmetrically coupled populations of N oscillators with inertia $m$ display chaotic solutions with broken symmetry similar to experimental observations with mechanical pendula. In particular, we report the first evidence of intermittent…
We have developed biped robots with a passive dynamic walking mechanism. This study proposes a compass model with a wobbling mass connected to the upper body and oscillating in the horizontal direction to clarify the influence of the…
The processes influencing animal movement and resource selection are complex and varied. Past efforts to model behavioral changes over time used Bayesian statistical models with variable parameter space, such as reversible-jump Markov chain…
Legged robotic systems can play an important role in real-world applications due to their superior load-bearing capabilities, enhanced autonomy, and effective navigation on uneven terrain. They offer an optimal trade-off between mobility…
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. The goal of this survey is to cover the recent progress toward…
We show that, in periodically perturbed chaotic systems, Phase Synchronization appears, associated to a special type of stroboscopic map, in which not only averages quantities are equal to invariants of the perturbation, the angular…