Passive compliant quadruped robot using central pattern generators for locomotion control
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Legged robots have gained an increased attention these past decades since they offer a promising technology for many applications in unstructured environments where the use of wheeled robots is clearly limited. Such applications include exploration and res ...
Central Pattern Generators (CPGs) are becoming a popular model for the control of locomotion of legged robots. Biological CPGs are neural networks responsible for the generation of rhythmic movements, especially locomotion. In robotics, a systematic way of ...
This paper introduces the mechanical design and the control concept of the Series Compliant Articulated Robotic Leg ScarlETH which was developed at ETH Zurich for fast, efficient, and versatile locomotion. Inspired by biological systems, we seek to achieve ...
In this paper, we present a case study using a spreadsheet-like interface for exploring biomedical datasets generated by a biomechanical model of the hip. The case we analyze here is an osteotomy corrective surgery that reorients the femoral body in relati ...
In this paper we present an approach to the problem of stabilizating the gaze of legged robots using Adaptive Frequency Oscillators to learn the frequency, phase and amplitude of the optical flow and generate compensatory commands during robot locomotion. ...
Collision detection among virtual objects is one of the main concerns in virtual reality and computer graphics. Usually the methods developed for collision detection are for either very general cases or very specific applications. The first main goal of th ...
In the recent years medical diagnosis and surgery planning often require the precise evaluation of joint movements. This has led to exploit reconstructed three-dimensional models of the joint tissues obtained from CT or MR Images (for bones, cartilages, et ...
: 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 ...