Publications associées à Marche à pied

Compliant universal grippers as adaptive feet in legged robots

Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser

This work investigates the usage of compliant universal grippers as a novel foot design for legged locomotion. The method of jamming of granular media in the universal grippers is characterized by having two distinct states: a soft, fluid-like state which ...

2018

Interactive locomotion: Investigation and modeling of physically-paired humans while walking

Auke Ijspeert, Seyed Hamed Razavi, Jessica Lanini

In spite of extensive studies on human walking, less research has been conducted on human walking gait adaptation during interaction with another human. In this paper, we study a particular case of interactive locomotion where two humans carry a rigid obje ...

Public Library of Science2017

3LP: a linear 3D-walking model including torso and swing dynamics

Auke Ijspeert, Salman Faraji

In this paper, we present a new mechanical model for biped locomotion, composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to a double support phase, this model has dif ...

Sage Publications Ltd2017

An Adaptive Neuromuscular Controller for Assistive Lower-Limb Exoskeletons: A Preliminary Study on Subjects with Spinal Cord Injury

Auke Ijspeert, Florin Dzeladini, Amy Roning Wu, Tycho Jan Henricus Brug

Versatility is important for a wearable exoskeleton controller to be responsive to both the user and the environment. These characteristics are especially important for subjects with spinal cord injury (SCI), where active recruitment of their own neuromusc ...

Frontiers Research Foundation2017

Interactive Locomotion of Mechanically Coupled Bipedal Agents: Modeling and Experiments

Auke Ijspeert, Jessica Lanini

This paper investigates the interactive locomotion for physically coupled bipedal agents using a human-human object carrying experiment and a simple mathematical model. The model is based on the Spring Loaded Inverted Pendulum (SLIP) and on the assumption ...

Springer International Publishing Ag2017

Climbing favours the tripod gait over alternative faster insect gaits

Dario Floreano, Auke Ijspeert, Thibault Lucien Christian Asselborn, Pavan P Ramdya, Robin Thandiackal

To escape danger or catch prey, running vertebrates rely on dynamic gaits with minimal ground contact. By contrast, most insects use a tripod gait that maintains at least three legs on the ground at any given time. One prevailing hypothesis for this differ ...

2017

Rich and Robust Bio-Inspired Locomotion Control for Humanoid Robots

Nicolas Benoît Dominique Van der Noot

Bipedal locomotion is a challenging task in the sense that it requires to maintain dynamic balance while steering the gait in potentially complex environments. Yet, humans usually manage to move without any apparent difficulty, even on rough terrains. This ...

EPFL2017

A low-cost, actuated passive dynamic walker kit for accessible research and education

Auke Ijspeert, Jamie Paik, Matthew Aaron Robertson, Amy Roning Wu

A low-cost bipedal walking robot kit with limited actuation and sensing capabilities was designed and built to achieve actively powered, passive dynamic walking locomotion over level ground. The walking system is composed of readily available parts and mat ...

2017

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Marche à pied

Compliant universal grippers as adaptive feet in legged robots

Skating with a Force Controlled Quadrupedal Robot

Interactive locomotion: Investigation and modeling of physically-paired humans while walking

3LP: a linear 3D-walking model including torso and swing dynamics

An Adaptive Neuromuscular Controller for Assistive Lower-Limb Exoskeletons: A Preliminary Study on Subjects with Spinal Cord Injury

Interactive Locomotion of Mechanically Coupled Bipedal Agents: Modeling and Experiments

Climbing favours the tripod gait over alternative faster insect gaits

Rich and Robust Bio-Inspired Locomotion Control for Humanoid Robots

Investigating Sensorimotor Control in Locomotion using Robots and Mathematical Models

A low-cost, actuated passive dynamic walker kit for accessible research and education

Graph Chatbot

Chattez avec Graph Search

3LP: a linear 3D-walking model including torso and swing dynamics

Interactive Locomotion of Mechanically Coupled Bipedal Agents: Modeling and Experiments

Investigating Sensorimotor Control in Locomotion using Robots and Mathematical Models

Interactive locomotion: Investigation and modeling of physically-paired humans while walking

An Adaptive Neuromuscular Controller for Assistive Lower-Limb Exoskeletons: A Preliminary Study on Subjects with Spinal Cord Injury

Rich and Robust Bio-Inspired Locomotion Control for Humanoid Robots

Compliant universal grippers as adaptive feet in legged robots

A low-cost, actuated passive dynamic walker kit for accessible research and education

Skating with a Force Controlled Quadrupedal Robot

Climbing favours the tripod gait over alternative faster insect gaits