Publication

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Related publications (127)

Imitation Learning of Motion Coordination in Robots

The ease with which humans coordinate all their limbs is fascinating. Such a simplicity is the result of a complex process of motor coordination, i.e. the ability to resolve the biomechanical redundancy in an efficient and repeatable manner. Coordination e ...

EPFL2012

Learning Coupled Dynamical Systems from Human Demonstration for Robotic Eye-Arm-Hand Coordination

Aude Billard, Luka Lukic, José Santos-Victor

Efficient, adaptive and reliable visuomotor control system is crucial to enable robots to display flexibility in the face of changes in the environment. This paper takes inspiration in human eye-arm-hand coordination pattern to develop an equivalently robu ...

2012

Role of Spine Compliance and Actuation in the Bounding Performance of Quadruped Robots

Auke Ijspeert, Soha Pouya, Rico Möckel, Mohammad Khodabakhsh

In this contribution we introduce novel dynamics model based on existing dynamics modeling approaches that allow detailed studies on the role of a compliant spine in quadruped locomotion. We use this model to address our key questions on locomotion control ...

2012

Quadrupedal robots with stiff and compliant actuation

Roland Siegwart, Marco Hutter

In the broader context of quadrupedal locomotion, this overview article introduces and compares two platforms that are similar in structure, size, and morphology, yet differ greatly in their concept of actuation. The first, ALoF, is a classically stiff act ...

2012

A Closed-Loop Optimal Control Approach for Online Control of A Planar Monopod Hopper

Auke Ijspeert, Soha Pouya, Mostafa Ajallooeian

In this paper we present a closed-loop optimal control approach for the online control of a legged robot locomotion, particularly the hopping of a simulated monoped robot. Modeling is done based on the spring loaded inverted pendulum (SLIP) model suggested ...

2012

Design and evaluation of a new mechatronic platform for assessment and prevention of fall risks

Silvestro Micera

Background: Studying the responses in human behaviour to external perturbations during daily motor tasks is of key importance for understanding mechanisms of balance control and for investigating the functional response of targeted subjects. Experimental p ...

BioMed Central2012

This paper introduces the concept of hybrid operational space control, a method that unifies kinematic tracking of individual joints with an inverse dynamics task space controller for the remainder of the robot. The proposed control strategy allows for a h ...

2012

, , , ,

: On the hardware level, we are proposing and testing a bio-inspired quadruped robot design (Oncilla robot), based on light-weight, compliant, and three-segmented legs. Our choice of placing the compliance such that it is spanning two joints enforces a non ...

2011

, , ,

Vertebrates are able to quickly adapt to new environments in a very robust, seemingly effortless way. To explain both this adaptivity and robustness, a very promising perspective in neurosciences is the modular approach to movement generation: Movements re ...

Springer Verlag2011

Despite many efforts, balance control of humanoid robots in the presence of unforeseen external or internal forces has remained an unsolved problem. The difficulty of this problem is a consequence of the high dimensionality of the action space of a humanoi ...

2011

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