An experimental validation of the polynomial curvature model: identification and optimal control of a soft underwater tentacle
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An important problem in the control of locomotion of robots with multiple degrees of freedom (e.g., biomimetic robots) is to adapt the locomotor patterns to the properties of the environment. This article addresses this problem for the locomotion of an amp ...
In the emerging field of soft robotics, there is an interest in developing new kinds of sensors whose characteristics do not affect the intrinsic compliance of soft robot components. Additionally, non-invasive shape and deflection sensors may provoke impro ...
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We developed an automatic method to extract the parameters of the 7 x 50m Stroke Eficiency Test for swimming based on a wrist worn acceleration sensor device. In the wrist acceleration signal we detect characteristic swim events such as wall push-offs, wal ...
Behavioral performances of our legged robots are still far behind those of biological systems. Energy efficiency and locomotion velocity of our robots, for example, are orders of magnitude lower than those of animals, and in order to fill the gap, it requi ...
A simple and general fabrication method for helical swimming micromachines by direct laser writing and e-beam evaporation is demonstrated. The magnetic helical devices exhibit varying magnetic shape anisotropy, yet always generate corkscrew motion using a ...
In the past, computational motor control has been approached from at least two major frameworks: the dynamic systems approach and the viewpoint of optimal control. The dynamic system approach emphasizes motor control as a process of self-organization betwe ...
In bio-inspired robotics, use of a Central Pattern Generator (CPG) to coordinate actuation is fairly common. The gait achieved depends on a number of CPG parameters, which can be adjusted to control the robot's motion. This paper presents an output feedbac ...
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Online trajectory generation for robots with multiple degrees of freedom is still a difficult and unsolved problem, in particular for non-steady state locomotion, that is, when the robot has to move in a complex environment with continuous variations of th ...
