Publications associées à Undulatory locomotion

Online Multicontact Receding Horizon Planning via Value Function Approximation

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Ieee-Inst Electrical Electronics Engineers Inc2024

The neuromechanics of animal locomotion: From biology to robotics and back

Auke Ijspeert, Pavan P Ramdya

Robotics and neuroscience are sister disciplines that both aim to understand how agile, efficient, and robust locomotion can be achieved in autonomous agents. Robotics has already benefitted from neuromechanical principles discovered by investigating anima ...

AMER ASSOC ADVANCEMENT SCIENCE2023

Investigating the neuromechanical control of healthy gait modulation and pathological gaits observed in cerebral palsy using neuromuscular simulations

Andrea Di Russo

Locomotion is based on a sophisticated interaction among the environment, the musculoskeletal system, the spinal cord, and the brain locomotor areas. Quality of life is strongly related to the proper capability of this movement. However, many pathologies, ...

EPFL2023

Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot

Auke Ijspeert, Karen Ann J Mulleners, Laura Isabel Paez Coy, Kamilo Andres Melo Becerra, Alexandros Anastasiadis, Eric Daniel Tytell

Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to livin ...

Nature Research2023

Beyond undulation! Body morphology and sensing components of elongated animals and robots reveal skills to maintain competent locomotion

Laura Isabel Paez Coy

Locomotion is an essential evolutive innovation of living beings that allows them to colonize and dominate the planet. As diverse as animal morphologies are (living) and were (extinct), their locomotion modalities are also diverse. In particular, animal mo ...

EPFL2023

Integration of feedforward and feedback control in the neuromechanics of vertebrate locomotion: a review of experimental, simulation and robotic studies

Auke Ijspeert

Animal locomotion is the result of complex and multi-layered interactions between the nervous system, the musculo-skeletal system and the environment. Decoding the underlying mechanisms requires an integrative approach. Comparative experimental biology has ...

Company Biologists Ltd2023

Combining accelerometry with allometry for estimating daily energy expenditure in joules when in-lab calibration is unavailable

Kamiar Aminian, Pritish Chakravarty

Background All behaviour requires energy, and measuring energy expenditure in standard units (joules) is key to linking behaviour to ecological processes. Animal-borne accelerometers are commonly used to infer proxies of energy expenditure, termed 'dynamic ...

BMC2023

A computational modeling approach to study the neuromechanics of terrestrial locomotion

Shravan Tata Ramalingasetty

The main theme of my thesis will be to use neuro-muscular modeling techniques to study locomotion of terrestrial mammals. Locomotion is the ability of animals to interact with the environment to propel themselves in space. It involves co-ordination and pre ...

EPFL2022

Online Bipedal Locomotion Adaptation for Stepping on Obstacles Using a Novel Foot Sensor

Milad Shafiee Ashtiani

In this paper, we present a novel control architecture for the online adaptation of bipedal locomotion on inclined obstacles. In particular, we introduce a novel, cost-effective, and versatile foot sensor to detect the proximity of the robot's feet to the ...

IEEE2022

Flexural-tensegrity snapping tails for bio-inspired propulsion in fluids

Pedro Miguel Nunes Pereira de Almeida Reis, Claudio Boni

Many aquatic animals propel themselves by flapping their tails. Leveraging a recently proposed snapping cantilever beam based on the concept of flexural tensegrity, we propose a bio-inspired propulsion device. The design comprises a segmental beam with hol ...

ELSEVIER2022