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

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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 peripheral nervous systems, the musculoskeletal system, and the environment. The go ...

Amer Assoc Advancement Science2014

Cognitive Loading Affects Motor Awareness and Movement Kinematics but Not Locomotor Trajectories during Goal-Directed Walking in a Virtual Reality Environment

Kamiar Aminian, Olaf Blanke, Oliver Alan Kannape, Arnaud Barré

The primary purpose of this study was to investigate the effects of cognitive loading on movement kinematics and trajectory formation during goal-directed walking in a virtual reality (VR) environment. The secondary objective was to measure how participant ...

Public Library of Science2014

Having a direct impact on the energy efficiency has made the compliance a favorable element in the robotic systems. Moreover, legged system can benefit from compliance for stability, speed, adaptability and robustness. Recently, we have studied the effects ...

2014

Energy Efficient Locomotion with Adaptive Natural Oscillator

Auke Ijspeert, Mahdi Khoramshahi

For robotic systems, energy efficiency is one the most crucial goals. Many studies have been done to accomplish this goal from design and control point of view. In the second view, one of the preferred method is to design the desired trajectory in harmony ...

2014

A computational analysis of motor synergies by dynamic response decomposition

Analyses of experimental data acquired from humans and other vertebrates have suggested that motor commands may emerge from the combination of a limited set of modules. While many studies have focused on physiological aspects of this modularity, in this pa ...

Frontiers Research Foundation2014

Learning robotic eye–arm–hand coordination from human demonstration: a coupled dynamical systems approach

Aude Billard, Luka Lukic, José Santos-Victor

We investigate the role of obstacle avoidance in visually guided reaching and grasping movements. We report on a human study in which subjects performed prehensile motion with obstacle avoidance where the position of the obstacle was systematically varied ...

Springer2014

Catching Objects in Flight

Aude Billard, Ashwini Shukla, Seungsu Kim

We address the difficult problem of catching in-flight objects with uneven shapes. This requires the solution of three complex problems: accurate prediction of the trajectory of fastmoving objects, predicting the feasible catching configuration, and planni ...

Institute of Electrical and Electronics Engineers2014

Coupling Movement Primitives: Interaction With the Environment and Bimanual Tasks

Auke Ijspeert

The framework of dynamic movement primitives (DMPs) contains many favorable properties for the execution of robotic trajectories, such as indirect dependence on time, response to perturbations, and the ability to easily modulate the given trajectories, but ...

Ieee-Inst Electrical Electronics Engineers Inc2014

A Skill Transfer Approach for Continuum Robots - Imitation of Octopus Reaching Motion with the STIFF-FLOP Robot

Sylvain Calinon

The problem of transferring skills to hyper-redundant system requires the design of new motion primitive representations that can cope with multiple sources of noise and redundancy, and that can dynamically handle perturbations in the environment. One way ...

2014

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In this paper, we formulate a novel hierarchical controller for walking of torque controlled humanoid robots. Our method uses a whole body optimization approach which generates joint torques, given Cartesian accelerations of different points on the robot. ...

2014