Concept
Boston Dynamics
Publications associées (88)
A biohybrid interaction framework for the integration of robots in animal societies
Francesco Mondada, Daniel Burnier, Vaios Papaspyros, Raphael Cherfan
The collective behavior of animals has been traditionally studied through observation, quantitative models of behavior, and devices of low intelligence. Nowadays, the advancements in the field of robotics allow for closed-loop experiments that occur in rea ...
2023Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive
Auke Ijspeert, Guillaume Denis Antoine Bellegarda, Milad Shafiee Ashtiani
Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Computational models of CPGs have been widely used for investigating the spinal co ...
New York2023Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk
Quadruped animals achieve agile and highly adaptive locomotion owing to the coordination between their legs and other body parts, such as the trunk, head, and tail, that is, body-limb coordination. This study aims to understand the sensorimotor control und ...
FRONTIERS MEDIA SA2021Underwater soft robot modeling and control with differentiable simulation
Underwater soft robots are challenging to model and control because of their high degrees of freedom and their intricate coupling with water. In this letter, we present a method that leverages the recent development in differentiable simulation coupled wit ...
Institute of Electrical and Electronics Engineers Inc.2021Wireless Electrohydrodynamic Actuators for Propulsion and Positioning of Miniaturized Floating Robots
Autonomous soft robots require compact actuators generating large strokes and high forces. Electro-fluidic actuators are especially promising, they combine the advantages of electroactive polymers (low-power consumption, fast response, and electrical power ...
WILEY2021Force Adaptation in Contact Tasks with Dynamical Systems
Aude Billard, Mahdi Khoramshahi, Walid Amanhoud
In many tasks such as finishing operations, achieving accurate force tracking is essential. However, uncertainties in the robot dynamics and the environment limit the force tracking accuracy. Learning a compensation model for these uncertainties to reduce ...
2020A Neural Primitive model with Sensorimotor Coordination for Dynamic Quadruped Locomotion with Malfunction Compensation
Auke Ijspeert, Azhar Aulia Saputra
In the field of quadruped locomotion, dynamic locomotion behavior, and rich integration with sensory feedback represents a significant development. In this paper, we present an efficient neural model, which includes CPG and its sensorimotor coordination, a ...
IEEE2020Memory of Motion for Warm-Starting Trajectory Optimization
Sylvain Calinon, Emmanuel Pignat, Antonio Paolillo, Teguh Santoso Lembono
Trajectory optimization for motion planning requires good initial guesses to obtain good performance. In our proposed approach, we build a memory of motion based on a database of robot paths to provide good initial guesses. The memory of motion relies on f ...
2020