Neuromechanics: an integrative approach for understanding motor control
Neuromechanics seeks to understand how muscles, sense organs, motor pattern
generators, and brain interact to produce coordinated movement, not only in complex terrain …
generators, and brain interact to produce coordinated movement, not only in complex terrain …
Unsteady locomotion: integrating muscle function with whole body dynamics and neuromuscular control
By integrating studies of muscle function with analysis of whole body and limb dynamics,
broader appreciation of neuromuscular function can be achieved. Ultimately, such studies …
broader appreciation of neuromuscular function can be achieved. Ultimately, such studies …
Models, feedback control, and open problems of 3D bipedal robotic walking
The fields of control and robotics are working toward the development of bipedal robots that
can realize walking motions with the stability and agility of a human being. Dynamic models …
can realize walking motions with the stability and agility of a human being. Dynamic models …
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 …
Challenging human locomotion: stability and modular organisation in unsteady conditions
The need to move over uneven terrain is a daily challenge. In order to face unexpected
perturbations due to changes in the morphology of the terrain, the central nervous system …
perturbations due to changes in the morphology of the terrain, the central nervous system …
Upright human gait did not provide a major mechanical challenge for our ancestors
Habitual bipedalism is considered as a major breakthrough in human evolution and is the
defining feature of hominins. Upright posture is presumably less stable than quadrupedal …
defining feature of hominins. Upright posture is presumably less stable than quadrupedal …
Running over rough terrain reveals limb control for intrinsic stability
Legged animals routinely negotiate rough, unpredictable terrain with agility and stability that
outmatches any human-built machine. Yet, we know surprisingly little about how animals …
outmatches any human-built machine. Yet, we know surprisingly little about how animals …
Running stability is enhanced by a proximo-distal gradient in joint neuromechanical control
We currently know little about how animals achieve dynamic stability when running over
uneven and unpredictable terrain, often characteristic of their natural environment. Here we …
uneven and unpredictable terrain, often characteristic of their natural environment. Here we …
MABEL, a new robotic bipedal walker and runner
This paper introduces MABEL, a new platform for the study of bipedal locomotion in robots.
One of the purposes of building the mechanism is to explore a novel powertrain design that …
One of the purposes of building the mechanism is to explore a novel powertrain design that …
Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL
A mathematical formalism for designing running gaits in bipedal robots with compliance is
introduced and subsequently validated experimentally on MABEL, a planar biped that …
introduced and subsequently validated experimentally on MABEL, a planar biped that …