Investigating Sensorimotor Control in Locomotion using Robots and Mathematical Models
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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 ...
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 ...
Much of what we know about the flexibility of the locomotor networks in vertebrates is derived from studies examining the adaptation of limb movements during stepping in various conditions. However, the body movements play important roles during locomotion ...
To navigate different environments, an animal must be able to adapt its locomotory gait to its physical surroundings. The nematode Caenorhabditis elegans, between swimming in water and crawling on surfaces, adapts its locomotory gait to surroundings that i ...
This paper proposes a novel method to control virtual characters in dynamic environments. A virtual character is animated by a locomotion and jumping engine, enabling production of continuous parameterized motions. At any time during runtime, flat obstacle ...
A common problem in virtual character computer animation concerns the preservation of the basic foot-floor constraint (or footplant), consisting in detecting it before enforcing it. This paper describes a system capable of generating motion while continuou ...