Concept

Undulatory locomotion

Related publications (161)

The Hydrodynamics of a Micro-Rocket Propelled by a Deformable Bubble

François Gallaire, Lailai Zhu, Giacomo Gallino

We perform simulations to study the hydrodynamics of a conical-shaped swimming micro-robot that ejects catalytically produced bubbles from its inside. We underline the nontrivial dependency of the swimming velocity on the bubble deformability and on the ge ...

2019

Introduction to discrete modelling : Modelling slithering locomotion

Meriton Beqiraj

The study of animal locomotion is vast since animals have various shapes and modes of locomotion. It finds multiple applications especially in robotics. In this report, the focus will be put on snake locomotion. However snakes still have various techniques ...

2018

Closed-Loop Functional Electrical Stimulation for Gait Training for Patients with Paraplegia

Mohamed Bouri, Solaiman Shokur

This paper presents a novel functional electrical stimulation paradigm to generate locomotion in paraplegic patients. We propose a closed-loop surface functional electrical stimulation (sFES) of 16 lower-limb muscles to produce all subphases of the gait. T ...

IEEE2018

Steerable Locomotion Controller for Six-strut Icosahedral Tensegrity Robots

Chiara Ercolani, Massimo Vespignani

This paper proposes a novel steerable locomotion controller for six-strut tensegrity robots. Tensegrity robots are lightweight and have many promising features such as robustness, shape-shifting capabilities, and deployability, making them good candidates ...

2018

Compliant universal grippers as adaptive feet in legged robots

Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser

This work investigates the usage of compliant universal grippers as a novel foot design for legged locomotion. The method of jamming of granular media in the universal grippers is characterized by having two distinct states: a soft, fluid-like state which ...

2018

Electrical spinal cord stimulation must preserve proprioception to enable locomotion in humans with spinal cord injury

Silvestro Micera, Grégoire Courtine, Jocelyne Bloch, Marco Capogrosso, Fabien Bertrand Paul Wagner, Jean-Baptiste Mignardot, Emanuele Formento, Karen Minassian, Andreas Rowald, Camille Georgette Marie Le Goff-Mignardot

Epidural electrical stimulation (EES) of the spinal cord restores locomotion in animal models of spinal cord injury but is less effective in humans. Here we hypothesized that this interspecies discrepancy is due to interference between EES and propriocepti ...

2018

A Computational Approach for the Design of Epidural Electrical Spinal Cord Stimulation Strategies to Enable Locomotion after Spinal Cord Injury

Emanuele Formento

Spinal cord injury (SCI) is a major cause of paralysis with currently no effective treatment. Epidural electrical stimulation (EES) of the lumbar spinal cord has been shown to restore locomotion in animal models of SCI, but has not yet reached the same lev ...

EPFL2018

Effects of passive and active joint compliance in quadrupedal locomotion

Auke Ijspeert, Mehmet Hasan Mutlu, Alexandre Bernardino

Compliance of the body has a crucial role on locomotion performance. The levels and the distribution of compliance should be well tuned to obtain efficient gait. The leg stiffness changes significantly even during different phases of a single gait cycle. T ...

TAYLOR & FRANCIS LTD2018

A Soft Robot for Random Exploration of Terrestrial Environments

Dario Floreano, Stefano Mintchev, Davide Zappetti, Jérémie Willemin

A swarm of randomly moving miniature robots is an effective solution for the exploration of unknown terrains. However, the deployment of a swarm of miniature robots poses two challenges: finding an adequate locomotion strategy for fast exploration and obst ...

IEEE2018

A multi-modal hovering and terrestrial robot with adaptive morphology

Dario Floreano, Stefano Mintchev

Most current drones are designed with a static morphology aimed at exploiting a single locomotion mode. This results in limited versatility and adaptability to multi-domain environments, such as those encountered in rescue missions, agriculture and inspect ...

2018

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