From swimming to walking with a salamander robot driven by a spinal cord model
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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 ...
Animals display an enormous versatility and a remarkable ability to adapt to changes in environment and terrain. Research in bio-inspired robotics strives to transfer these skills to robots, including legged systems. Even though animals seemingly effortles ...
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 ...
Most current drones are designed with a static morphology aimed at exploiting a single locomotion mode. This results in limited versatility and adaptability to multi-domain environments, such as those encountered in rescue missions, agriculture and inspect ...
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 ...
Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy eff ...
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 ...
Quadrupeds achieve rapid and highly adaptive locomotion owing to the coordination between their legs and other body parts such as their trunk, head, and tail, i.e. body-limb coordination. Therefore, a better understanding of the mechanism underlying body-l ...
The ability of dedicated spinal circuits, referred to as central pattern generators (CPGs), to produce the basic rhythm and neural activation patterns underlying locomotion can be demonstrated under specific experimental conditions in reduced animal prepar ...
The study of animal locomotion is vast since animals have various shapes and modes of locomotion. It finds multiple applications especially in robotics. In this report, the focus will be put on snake locomotion. However snakes still have various techniques ...
