Concept

Quadrupédie

Publications associées (56)

A regulatory archipelago controls hox genes transcription in digits

The evolution of digits was an essential step in the success of tetrapods. Among the key players, Hoxd genes are coordinately regulated in developing digits, where they help organize growth and patterns. We identified the distal regulatory sites associated ...

2011

Oncilla robot: a light-weight bio-inspired quadruped robot for fast locomotion in rough terrain

Auke Ijspeert, Alexander Spröwitz, Mostafa Ajallooeian, Rico Möckel, Alexandre Tuleu

: 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 ...

2011

Passive compliant quadruped robot using central pattern generators for locomotion control

Auke Ijspeert, Ludovic Righetti, Simon Rutishauser

We present a new quadruped robot, “Cheetah”, featuring three-segment pantographic legs with passive compliant knee joints. Each leg has two degrees of freedom - knee and hip joint can be actuated using proximal mounted RC servo motors, force transmission t ...

2008

Control of legged locomotion using dynamical systems

Ludovic Righetti

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 ...

EPFL2008

Gait pattern prediction via bilateral neural ensemble recordings in motor cortex in rats.

Hannes Bleuler, Solaiman Shokur, Miguel Nicolelis

We are interested in developing and building an experimental system for controlling a quadruped robot with a brain-derived signal of a rat. We recorded large ensembles of neurones in left M1 and right M1 and S1 using chronically implanted multi-electrodes ...

Fens2008

Organisation of the spinal central pattern generators for locomotion in the salamander: biology and modelling

Auke Ijspeert

Among living tetrapods, salamanders are regarded as most closely resembling the first terrestrial vertebrates, and are therefore an interesting group in which the evolutionary changes in the locomotor behaviour from aquatic to terrestrial habitats can be i ...

2008

Pattern generators with sensory feedback for the control of quadruped locomotion

Auke Ijspeert, Ludovic Righetti

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 ...

2008

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Auke Ijspeert, Ludovic Righetti, Sarah Dégallier Rochat

Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to senso ...

2007

Transgenic analysis of Hoxd gene regulation during digit development

Denis Duboule

In tetrapods, posterior Hoxd genes (from groups 10 to 13) are necessary to properly pattern the developing autopods, including the number and identities of digits. Their coordinated expression is achieved by sharing a global control region (GCR), which was ...

2007

Kinematic and EMG Determinants in Quadrupedal Locomotion of a Non-Human Primate (Rhesus)

Grégoire Courtine

We hypothesized that the activation patterns of flexor and extensor muscles and the resulting kinematics of the forelimbs and hindlimbs during locomotion in the Rhesus would have unique characteristics relative to other quadrupedal mammals. Adaptations of ...

2005

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