Concept

Bio-inspired robotics

Publications associées (467)

State Estimation for a Humanoid Robot

This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach extends that detailed in prior work on a point-foot quadruped platform by a ...

2014

Angular Motion Control Using a Closed-Loop CPG for a Water-Running Robot

Auke Ijspeert, Mahdi Khoramshahi, Metin Sitti

The Basilisk Lizard’s striking ability to sustain highly dynamic legged locomotion on a range of surfaces from hard-ground to water is a remarkable feat [1]. Most legged robots would have difficulty emulating this animal’s ability to robustly locomote on y ...

Carnegie Mellon University2013

Artificial muscles for soft robots

Dario Floreano, Herbert Shea, Samuel Rosset, Jun Shintake

Recent work on soft gripper using an artificial muscle technology was shown at Festival de robotique in EPFL. ...

2013

Real-Time Estimate of Velocity and Acceleration of Quasi-Periodic Signals Using Adaptive Oscillators

Auke Ijspeert, Renaud Ronsse

Estimation of the temporal derivatives of a noisy position signal is a ubiquitous problem in industrial and robotics engineering. Here, we propose a new approach to get velocity and acceleration estimates of cyclical/periodic signals near to steady-state r ...

Ieee-Inst Electrical Electronics Engineers Inc2013

Reflexive stability control framework for humanoid robots

Tadej Petric

In this paper we propose a general control framework for ensuring stability of humanoid robots, determined through a normalized zero-moment-point (ZMP). The proposed method is based on the modified prioritized kinematic control, which allows smooth and con ...

2013

A Control and Optimization Framework for Robot Locomotion

Soha Pouya

Despite great efforts in designing legged robots, we are still far from the adaptivity, efficiency and robustness with which animals can move. Observations from successful biomimetic designs highlight the significant role of clever morphological design in ...

EPFL2013

Control of Dynamic Gaits for a Quadrupedal Robot

Roland Siegwart, Marco Hutter

Quadrupedal animals move through their environments with unmatched agility and grace. An important part of this is the ability to choose between different gaits in order to travel optimally at a certain speed or to robustly deal with unanticipated perturba ...

2013

Soft Cell Simulator: A tool to study Soft Multi-Cellular Robots

Dario Floreano, Andrea Maesani, Jürg Markus Germann, Manuel Stöckli

Modular or multi-cellular robots hold the promise to adapt their morphology to task and environment. However, research in modular robotics has traditionally been limited to mechanically non-adaptive systems due to hard building blocks and rigid connection ...

2013

State Estimation for Legged Robots on Unstable and Slippery Terrain

Roland Siegwart, Marco Hutter

This paper presents a state estimation approach for legged robots based on stochastic filtering. The key idea is to extract information from the kinematic constraints given through the intermittent contacts with the ground and to fuse this information with ...

2013

Data-driven extraction of drive functions for legged locomotion: A study on Cheetah-cub robot

Auke Ijspeert, Mostafa Ajallooeian, Alexandre Tuleu

The process of finding working gaits for legged robots always, to different extents, includes manual tuning, systematic search, or optimization of control parameters. This process populates a dataset of control parameter vectors and respective robot behavi ...

2013

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