Publications associées à Bipédie

Robotic Elytra: Insect-Inspired Protective Wings for Resilient and Multi-Modal Drones

Dario Floreano, Charalampos Vourtsis, William John Stewart

Winged drones that fly in close proximity to obstacles or that are capable of aerial and terrestrial locomotion can benefit from protective systems that prevent damage to delicate aerial structures. Existing protective solutions focus on multi-copter drone ...

2021

Sensory modulation of gait characteristics in human locomotion: A neuromusculoskeletal modeling study

Auke Ijspeert, Andrea Di Russo, Dimitar Yuriev Stanev, Stéphane Armand

The central nervous system of humans and other animals modulates spinal cord activity to achieve several locomotion behaviors. Previous neuromechanical models investigated the modulation of human gait changing selected parameters belonging to CPGs (Central ...

2021

A unified framework for walking and running of bipedal robots

Ludovic Righetti, Elham Daneshmand

In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) height assumption of the linear inverted pendulum model (LIPM) and generate a w ...

IEEE2021

Spontaneous Gait Transitions of Sprawling Quadruped Locomotion by Sensory-Driven Body-Limb Coordination Mechanisms

Auke Ijspeert, Shura Suzuki

Deciphering how quadrupeds coordinate their legs and other body parts, such as the trunk, head, and tail (i.e., body-limb coordination), can provide informative insights to improve legged robot mobility. In this study, we focused on sprawling locomotion of ...

FRONTIERS MEDIA SA2021

Algorithms for Walking Speed Estimation Using a Lower-Back-Worn Inertial Sensor: A Cross-Validation on Speed Ranges

Kamiar Aminian, Anisoara Ionescu, Abolfazl Soltani

Walking/gait speed is a key measure for daily mobility characterization. To date, various studies have attempted to design algorithms to estimate walking speed using an inertial sensor worn on the lower back, which is considered as a proper location for ac ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Coupling-dependent convergence behavior of phase oscillators with tegotae-control

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Simon Lukas Hauser, Matthieu Guillaume Marie Dujany

A bio-inspired way to model locomotion is using a network of coupled phase oscillators to create a Central Pattern Generator (CPG). The recently developed feedback control method tegotae includes exteroceptive force feedback into the governing phase update ...

IEEE2021

Neuromuscular Controller Embedded in a Powered Ankle Exoskeleton: Effects on Gait, Clinical Features and Subjective Perspective of Incomplete Spinal Cord Injured Subjects

Auke Ijspeert, Florin Dzeladini

Powered exoskeletons are among the emerging technologies claiming to assist functional ambulation. The potential to adapt robotic assistance based on specific motor abilities of incomplete spinal cord injury (iSCI) subjects, is crucial to optimize Human-Ro ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2020

The association of basic and challenging motor capacity with mobility performance and falls in young seniors

Kamiar Aminian, Anisoara Ionescu

Background: Understanding the association between motor capacity (MC) (what people can do in a standardized environment), mobility performance (MP) (what people actually do in real-life) and falls is important for early detection of and counteracting on fu ...

ELSEVIER IRELAND LTD2020

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Bipédie

Robotic Elytra: Insect-Inspired Protective Wings for Resilient and Multi-Modal Drones

Sensory modulation of gait characteristics in human locomotion: A neuromusculoskeletal modeling study

A unified framework for walking and running of bipedal robots

Repeated exposure to tripping like perturbations elicits more precise control and lower toe clearance of the swinging foot during steady walking

Spontaneous Gait Transitions of Sprawling Quadruped Locomotion by Sensory-Driven Body-Limb Coordination Mechanisms

Algorithms for Walking Speed Estimation Using a Lower-Back-Worn Inertial Sensor: A Cross-Validation on Speed Ranges

Coupling-dependent convergence behavior of phase oscillators with tegotae-control

Neuromuscular Controller Embedded in a Powered Ankle Exoskeleton: Effects on Gait, Clinical Features and Subjective Perspective of Incomplete Spinal Cord Injured Subjects

Amphibious and Sprawling Locomotion: From Biology to Robotics and Back

The association of basic and challenging motor capacity with mobility performance and falls in young seniors

Graph Chatbot

Chattez avec Graph Search

Sensory modulation of gait characteristics in human locomotion: A neuromusculoskeletal modeling study

Robotic Elytra: Insect-Inspired Protective Wings for Resilient and Multi-Modal Drones

Repeated exposure to tripping like perturbations elicits more precise control and lower toe clearance of the swinging foot during steady walking

Neuromuscular Controller Embedded in a Powered Ankle Exoskeleton: Effects on Gait, Clinical Features and Subjective Perspective of Incomplete Spinal Cord Injured Subjects

Algorithms for Walking Speed Estimation Using a Lower-Back-Worn Inertial Sensor: A Cross-Validation on Speed Ranges

Spontaneous Gait Transitions of Sprawling Quadruped Locomotion by Sensory-Driven Body-Limb Coordination Mechanisms

Amphibious and Sprawling Locomotion: From Biology to Robotics and Back

Coupling-dependent convergence behavior of phase oscillators with tegotae-control

A unified framework for walking and running of bipedal robots

The association of basic and challenging motor capacity with mobility performance and falls in young seniors