相关论文: Coupled Chaotic Oscillators and Its Relation with …
Gaits and transitions are key components in legged locomotion. For legged robots, describing and reproducing gaits as well as transitions remain longstanding challenges. Reinforcement learning has become a powerful tool to formulate…
Legged locomotion involves various gaits. It has been observed that fast running insects (cockroaches) employ a tripod gait with three legs lifted off the ground simultaneously in swing, while slow walking insects (stick insects) use a…
We address the challenge of effectively controlling the locomotion of legged robots by incorporating precise frequency and phase characteristics, which is often ignored in locomotion policies that do not account for the periodic nature of…
Locomotion gaits are fundamental for control of soft terrestrial robots. However, synthesis of these gaits is challenging due to modeling of robot-environment interaction and lack of a mathematical framework. This work presents an…
Legged locomotion is commonly studied and expressed as a discrete set of gait patterns, like walk, trot, gallop, which are usually treated as given and pre-programmed in legged robots for efficient locomotion at different speeds. However,…
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between…
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…
Despite the extensive presence of the legged locomotion in animals, it is extremely challenging to be reproduced with robots. Legged locomotion is an dynamic task which benefits from a planning that takes advantage of the gravitational pull…
We report the first experimental demonstration of chaotic phase synchronization (CPS) in unidirectionally coupled time-delay systems using electronic circuits. We have also implemented experimentally an efficient methodology for…
The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy backpack payload. It is desirable for the Human-XRL quadruped…
Among the tilt-rotors (quadrotors) developed in the last decades, Rylls model with eight inputs (four magnitudes of the thrusts and four tilting angles) attracted great attention. Typical feedback linearization maneuvers all the eight…
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…
Quadruped animals are capable of exhibiting a diverse range of locomotion gaits. While progress has been made in demonstrating such gaits on robots, current methods rely on motion priors, dynamics models, or other forms of extensive manual…
Summary: Walking is regulated through the motorcontrol system (MCS). The MCS consists of a network of neurons from the central nervous system (CNS) and the intraspinal nervous system (INS), which is capable of producing a syncopated output.…
Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient locomotion on various terrains and velocities. While…
Spring-based actuators in legged locomotion provide energy-efficiency and improved performance, but increase the difficulty of controller design. While previous work has focused on extensive modeling and simulation to find optimal…
A general stability analysis is presented for the determination of the transition from incoherent to coherent behavior in an ensemble of globally coupled, heterogeneous, continuous-time dynamical systems. The formalism allows for the…
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…
This paper deals with the chaotic oscillator synchronization. A new approach to the synchronization of chaotic oscillators has been proposed. This approach is based on the analysis of different time scales in the time series generated by…