Bipédie

Science de la nature
Biologie
Biophysique
Biomécanique

Publications associées (31)

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Postural transitions detection and characterization in healthy and patient populations using a single waist sensor

Kamiar Aminian, Farzin Dadashi, Benoît Mariani, Arash Atrsaei

Background: Sit-to-stand and stand-to-sit transitions are frequent daily functional tasks indicative of muscle power and balance performance. Monitoring these postural transitions with inertial sensors provides an objective tool to assess mobility in both ...

BioMed Central2020

Changes in ambulatory knee adduction moment with lateral wedge insoles differ with respect to the natural foot progression angle

Julien Favre, Brigitte Jolles-Haeberli

Lateral wedge insoles (LWI) have been proposed to reduce the knee adduction moment (KAM) during walking; a biomechanical modification notably sought in case of medial knee osteoarthritis. However, the inter-individual inconsistency in KAM changes with LWI ...

ELSEVIER SCI LTD2020

Walking with Salamanders: From Molecules to Biorobotics

Auke Ijspeert

How do four-legged animals adapt their locomotion to the environment? How do central and peripheral mechanisms interact within the spinal cord to produce adaptive locomotion and how is locomotion recovered when spinal circuits are perturbed? Salamanders ar ...

ELSEVIER SCIENCE LONDON2020

A Neural Primitive model with Sensorimotor Coordination for Dynamic Quadruped Locomotion with Malfunction Compensation

Auke Ijspeert, Azhar Aulia Saputra

In the field of quadruped locomotion, dynamic locomotion behavior, and rich integration with sensory feedback represents a significant development. In this paper, we present an efficient neural model, which includes CPG and its sensorimotor coordination, a ...

IEEE2020

Towards rich motion skills with the lightweight quadruped robot Serval

Auke Ijspeert, Peter Eckert, Tomislav Horvat, Anja Eva Maria Schmerbauch

Bio-inspired robotic designs introducing and benefiting from morphological aspects present in animals allowed the generation of fast, robust, and energy-efficient locomotion. We used engineering tools and interdisciplinary knowledge transferred from biolog ...

SAGE PUBLICATIONS LTD2020

Simulation of human gait with body weight support: benchmarking models and unloading strategies

Salil Apte

Background Gait training with partial body weight support (BWS) has become an established rehabilitation technique. Besides passive unloading mechanisms such as springs or counterweights, also active systems that allow rendering constant or modulated verti ...

BioMed Central2020

Analysis and Transfer of Human Movement Manipulability in Industry-like Activities

Sylvain Calinon, Noémie Laure Gwendoline Jaquier

Humans exhibit outstanding learning, planning and adaptation capabilities while performing different types of industrial tasks. Given some knowledge about the task requirements, humans are able to plan their limbs motion in anticipation of the execution of ...

IEEE2020

Designing Minimal and Scalable Insect-Inspired Multi-Locomotion Millirobots

Jamie Paik, Zhenishbek Zhakypov, Kazuaki Mori

In ant colonies, collectivity enables division of labour and resources with great scalability. Beyond their intricate social behaviours, individuals of the genus Odontomachus, also known as trap-jaw ants, have developed remarkable multi-locomotion mechanis ...

2019

Bipedal walking and push recovery with a stepping strategy based on time-projection control

Auke Ijspeert, Salman Faraji, Seyed Hamed Razavi

In this paper, we present a simple control framework for online push recovery on biped robots with dynamic stepping properties. Owing to relatively heavy legs in our humanoid robot COMAN, we use a linear model called 3LP, which is composed of three pendulu ...

SAGE PUBLICATIONS LTD2019

From standing balance to walking: A single control structure for a continuum of gaits

Auke Ijspeert, Salman Faraji, Seyed Hamed Razavi

This article presents a control algorithm framework with which a bipedal robot can perform a variety of gaits by only modifying a small set of control parameters. The controller drives a number of variables, called non-emergent variables, to their desired ...

2019

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Changes in ambulatory knee adduction moment with lateral wedge insoles differ with respect to the natural foot progression angle

Julien Favre, Brigitte Jolles-Haeberli

ELSEVIER SCI LTD2020