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Science de la nature
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Publications associées (20)

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The Design and Control of the Multi-Modal Locomotion Origami Robot, Tribot

Jamie Paik, Zhenishbek Zhakypov, Mohsen Falahi

Origami robots (Robogamis) use architecture to strategically activate different sets and sequence of actuators to achieve large variety of reconfigurable forms. Tribot is a unique mobile origami robot that can simultaneously choose between two modes of loc ...

2015

Compliant snake robot locomotion on horizontal pipes

Auke Ijspeert, Kamilo Andres Melo Becerra, Mehmet Hasan Mutlu, Massimo Vespignani

In this paper we introduce a body-compliant Modular Snake Robot executing rolling gaits on different cylindrical geometries. In the state of the art it is considered that an active shape adaptation to the terrain while a gait is executed produces better pe ...

2015

A Flying Robot with Adaptive Morphology for Multi-Modal Locomotion

Dario Floreano, Ludovic Daler, Julien Jean Denis Nicolas Lecoeur, Patrizia Bernadette Hählen

Most existing robots are designed to exploit only one single locomotion mode, such as rolling, walking, flying, swimming, or jumping, which limits their flexibility and adaptability to different environments where specific and different locomotion capabili ...

2013

Modeling a diversity of salamander motor behaviors with coupled abstract oscillators and a robot

Jérémie Knüsel

Salamanders are capable of a variety of locomotor behaviors including swimming, underwater stepping, and forward and backward land stepping. According to electromyographic and kinematic recordings of the trunk, each of these behaviors is characterized by a ...

EPFL2013

In-field objective evaluation and analysis in ski jumping using inertial sensors

Julien Chardonnens

Ski jumping, a prestigious Olympic discipline, has been constantly evolving. Over the years, the biomechanics fundamentals of this highly technical sport have been intensively documented by investigating the jump timing, kinematics, dynamics and motor cont ...

EPFL2012

Bioinspired Jumping Locomotion for Miniature Robotics

Mirko Kovac

In nature, many small animals use jumping locomotion to move in rough terrain. Compared to other modes of ground locomotion, jumping allows an animal to overcome obstacles that are relatively large compared to its size. In this thesis we outline the main d ...

EPFL2010

Non-adiabatic coupling vectors within linear response time-dependent density functional theory

Ursula Röthlisberger, Ivano Tavernelli, Enrico Marko Tapavicza

A method is developed to compute the nonadiabatic coupling vectors (NACVs) between electronic ground and excited states as well as between any possible pair of excited states within the framework of linear response time-dependent density functional theory ...

2009

Online optimization of swimming and crawling in an amphibious snake robot

Auke Ijspeert, Alessandro Crespi

An important problem in the control of locomotion of robots with multiple degrees of freedom (e.g., biomimetic robots) is to adapt the locomotor patterns to the properties of the environment. This article addresses this problem for the locomotion of an amp ...

2008

Dynamic Obstacle Clearing for Real-time Character Animation

Daniel Thalmann, Ronan Boulic, Pascal Glardon

This paper proposes a novel method to control virtual characters in dynamic environments. A virtual character is animated by a locomotion and jumping engine, enabling production of continuous parameterized motions. At any time during runtime, flat obstacle ...

Springer-Verlag2006

On-line adapted transition between locomotion and jump

Daniel Thalmann, Ronan Boulic, Pascal Glardon

Motion blending is widely accepted as a standard technique in computer animation, allowing the generation of new motions by interpolation and/or transition between motion capture sequences. To ensure smooth and seamless results, an important property has t ...

2005

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