Neuronal networks within the spinal cord directly control rhythmic movements of the
arms/forelimbs and legs/hindlimbs during locomotion in mammals. For an effective …

In recent years, quadruped mobile robots' development had experienced rapid progress,
which has subsequently increased their usage in many human-assisted applications …

Achieving versatile robot locomotion requires motor skills that can adapt to previously
unseen situations. We propose a multi-expert learning architecture (MELA) that learns to …

Mastering a rich repertoire of motor behaviors, as humans and other animals do, is a
surprising and still a poorly understood outcome of evolution, development, and learning …

Animals dynamically adapt to varying terrain and small perturbations with remarkable ease.
These adaptations arise from complex interactions between the environment and …

We investigate the role of lower leg muscle-tendon structures in providing serial elastic
behavior to the hip actuator. We present a leg design with physical elastic elements in leg …

An important feature of a legged robot is its dynamic motion performance. Traditional
methods often improve the dynamic motion performance by reducing the moment of inertia …

Evolutionary Computation (EC) has strengths in terms of computation for gait optimization.
However, conventional evolutionary algorithms use typical gait parameters such as step …

Humans and animals are believed to use a very minimal set of trajectories to perform a wide
variety of tasks including walking. Our main objective in this paper is two fold 1) Obtain an …

In this paper, the design and implementation of a novel leg–wheel robot called Transleg are
presented. Transleg adopts the wire as the transmission mechanism to simplify the structure …