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Quadrupeds achieve rapid and highly adaptive locomotion owing to the coordination between their legs and other body parts such as their trunk, head, and tail, i.e. body-limb coordination. Therefore, a better understanding of the mechanism underlying body-l ...
Nowadays, very few humanoid robots manage to travel in our daily environments. This is mainly due to their limited locomotion capabilities, far from the human ones. Recently, we developed a bio-inspired torque-based controller recruiting virtual muscles dr ...
In ant colonies, collectivity enables division of labour and resources with great scalability. Beyond their intricate social behaviours, individuals of the genus Odontomachus, also known as trap-jaw ants, have developed remarkable multi-locomotion mechanis ...
In everyday life humans perform many tasks with other partners which involve coordination, involuntary communication and mutual control adaptation, as the case of carrying objects together with another person. Humanoid robots may help with such activities ...
Amphibious animals adapt their body coordination to compensate for changing substrate properties as they transition between terrestrial and aquatic environments. Using behavioural experiments and mathematical modelling of the amphibious centipede Scolopend ...
Over the last decade, active lower-limb prostheses demonstrated their ability to restore a physiological gait for transfemoral amputees by supplying the required positive energy balance during daily life locomotion activities. However, the added-value of s ...
This study investigates the performance of an updated version of our pre-impact detection algorithm while parsing out hip kinematics in order to identify unexpected tripping-like perturbations during walking. This approach grounds on the hypothesis that du ...
We show dynamic locomotion strategies for wheeled quadrupedal robots that combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the wheels. Our approach r ...
In this paper, we present a simple control framework for online push recovery on biped robots with dynamic stepping properties. Owing to relatively heavy legs in our humanoid robot COMAN, we use a linear model called 3LP, which is composed of three pendulu ...
Dynamic locomotion on unstructured and uneven terrain is a challenging task in legged robotics. Especially when it comes to slippery ground conditions, common state estimation and control algorithms suffer from the usual no-slip assumption. In fact, there ...