Biorobotics: Using robots to emulate and investigate agile locomotion
AJ Ijspeert - science, 2014 - science.org
The graceful and agile movements of animals are difficult to analyze and emulate because
locomotion is the result of a complex interplay of many components: the central and …
locomotion is the result of a complex interplay of many components: the central and …
A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems
Discovery of fundamental principles which govern and limit effective locomotion (self-
propulsion) is of intellectual interest and practical importance. Human technology has …
propulsion) is of intellectual interest and practical importance. Human technology has …
An introduction to trajectory optimization: How to do your own direct collocation
M Kelly - SIAM Review, 2017 - SIAM
This paper is an introductory tutorial for numerical trajectory optimization with a focus on
direct collocation methods. These methods are relatively simple to understand and …
direct collocation methods. These methods are relatively simple to understand and …
Atrias: Design and validation of a tether-free 3d-capable spring-mass bipedal robot
ATRIAS is a human-scale 3D-capable bipedal robot designed to mechanically embody the
spring-mass model for dynamic walking and running. To help bring the extensive work on …
spring-mass model for dynamic walking and running. To help bring the extensive work on …
3-d underactuated bipedal walking via h-lip based gait synthesis and step** stabilization
In this article, we holistically present a hybrid-linear inverted pendulum (H-LIP) based
approach for synthesizing and stabilizing 3-D foot-underactuated bipedal walking, with an …
approach for synthesizing and stabilizing 3-D foot-underactuated bipedal walking, with an …
Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization
Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic walking but
has significant implementation difficulties when applied to the high degrees of freedom …
has significant implementation difficulties when applied to the high degrees of freedom …
On the design and control of highly backdrivable lower-limb exoskeletons: A discussion of past and ongoing work
Lower-limb exoskeletons are external mechanical structures that support and assist human
users during locomotion. The earliest studies on exoskeletons date back to the 1960s …
users during locomotion. The earliest studies on exoskeletons date back to the 1960s …
Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS
This paper presents the methodology used to achieve efficient and dynamic walking
behaviors on the prototype humanoid robotics platform, DURUS. As a means of providing a …
behaviors on the prototype humanoid robotics platform, DURUS. As a means of providing a …
Recent advances on underwater soft robots
J Qu, Y Xu, Z Li, Z Yu, B Mao, Y Wang… - Advanced Intelligent …, 2024 - Wiley Online Library
The ocean environment has enormous uncertainty due to the influence of complex waves
and undercurrents. The human beings are limited in their abilities to detect and utilize …
and undercurrents. The human beings are limited in their abilities to detect and utilize …
Learning plastic matching of robot dynamics in closed-loop central pattern generators
Animals achieve agile locomotion performance with reduced control effort and energy
efficiency by leveraging compliance in their muscles and tendons. However, it is not known …
efficiency by leveraging compliance in their muscles and tendons. However, it is not known …