相关论文: An Open-Source Modular Treadmill for Dynamic Force…

Scaling the design of robots up or down remains a fundamental challenge. While biological systems follow well-established isometric and allometric scaling laws relating mass, stride frequency, velocity, and torque, it is unclear how these…

This paper introduces a novel six-axis force/torque sensor tailored for compact and lightweight legged robots. Unlike traditional strain gauge-based sensors, the proposed non-contact design employs photocouplers, enhancing resistance to…

When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can deform if there is a mechanical weakness. Under these…

Human locomotion involves continuously variable activities including walking, running, and stair climbing over a range of speeds and inclinations as well as sit-stand, walk-run, and walk-stairs transitions. Understanding the kinematics and…

Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…

Current studies on human locomotion focus mainly on solid ground walking conditions. In this paper, we present a biomechanic comparison of human walking locomotion on solid ground and sand. A novel dataset containing 3-dimensional motion…

Soft robots have immense potential given their inherent safety and adaptability, but challenges in soft actuator forces and design constraints have limited scaling up soft robots to larger sizes. Electrothermal shape memory alloy (SMA)…

In this paper we consider trajectory tracking problem for robotic systems affected by unknown external perturbations. Considering possible solutions, we restrict our attention to composite adaptation, which, particularly, ensures parametric…

This work presents a system to benchmark humanoid posture control and balance performances under perturbed conditions. The specific benchmarking scenario consists, for example, of balancing upright stance while performing voluntary…

The applicability of Doppler radar for gait analysis is investigated by quantitatively comparing the measured biomechanical parameters to those obtained using motion capturing and ground reaction forces. Nineteen individuals walked on a…

Knowledge on joint impedance during walking in various conditions is relevant for clinical decision-making and the development of robotic gait trainers, leg prostheses, leg orthotics and wearable exoskeletons. Whereas ankle impedance during…

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…

Human locomotion emerges from high-dimensional neuromuscular control, making predictive musculoskeletal simulation challenging. We present a physiology-informed reinforcement-learning framework that constrains control using muscle…

Flexible tactile sensors are increasingly used in real-world applications such as robotic grippers, prosthetic hands, wearable gloves, and assistive devices, where they need to conform to curved and irregular surfaces. However, most…

We present a model-based framework for robot locomotion that achieves walking based on only 4.5 minutes (45,000 control steps) of data collected on a quadruped robot. To accurately model the robot's dynamics over a long horizon, we…

Designing robots capable of traversing uneven terrain and overcoming physical obstacles has been a longstanding challenge in the field of robotics. Walking robots show promise in this regard due to their agility, redundant DOFs and…

Levitated optomechanics is showing potential for precise force measurements. Here, we report a case study, to show experimentally the capacity of such a force sensor. Using an electric field as a tool to detect a Coulomb force applied onto…

For the deployment of legged robots in real-world environments, it is essential to develop robust locomotion control methods for challenging terrains that may exhibit unexpected deformability and irregularity. In this paper, we explore the…

An accurate motion model is an important component in modern-day robotic systems, but building such a model for a complex system often requires an appreciable amount of manual effort. In this paper we present a motion model representation,…

In this work, we show that a recently proposed method for experimental nonlinear modal analysis based on the extended periodic motion concept is well suited to extract modal properties for strongly nonlinear systems (i.e. in the presence of…