Publication
Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach
Publications associées (127)
Bio-inspired walking for humanoid robots using feet with human-like compliance and neuromuscular control
Auke Ijspeert, Nicolas Benoît Dominique Van der Noot, Luca Colasanto
The human foot plays a key role in human walking providing, among others, body support and propulsion, stability of the movement and impact absorption. These fundamental functionalities are accomplished by an extraordinarily rich bio-mechanical design. Non ...
IEEE2015Biped gait controller for large speed variations, combining reflexes and a central pattern generator in a neuromuscular model
Auke Ijspeert, Renaud Ronsse, Nicolas Benoît Dominique Van der Noot
Controllers based on neuromuscular models hold the promise of energy-efficient and human-like walkers. However, most of them rely on optimizations or cumbersome hand-tuning to find controller parameters which, in turn, are usually working for a specific ga ...
IEEE2015Control Strategies for Active Lower Extremity Prosthetics and Orthotics: A Review
José del Rocio Millán Ruiz, Hannes Bleuler, Mohamed Bouri, Roger Gassert, Olivier Lambercy, Jeremy Olivier
Technological advancements have led to the development of numerous wearable robotic devices for the physical assistance and restoration of human locomotion. While many challenges remain with respect to the mechanical design of such devices, it is at least ...
BioMed Central2015Evolution of brain activation after stroke in a constant-effort versus constant-output motor task
Recovery of hand function after stroke has been associated with transient overactivation of the cerebral sensorimotor network. One open question has been as to how much this transient overactivation is related to 'true' reorganisation of the network or ref ...
IOS Press2015Real-time full body motion imitation on the COMAN humanoid robot
Auke Ijspeert, Florin Dzeladini, Jesse van den Kieboom
On-line full body imitation with a humanoid robot standing on its own two feet requires simultaneously maintaining the balance and imitating the motion of the demonstrator. In this paper we present a method that allows real-time motion imitation while main ...
Cambridge Univ Press2015Clawed Miniature Inchworm Robot Driven by Electromagnetic Oscillatory Actuator
In this research we propose a novel inchworm robot, which is composed of an Electromagnetic Oscillatory Actuator (BOA) and claws. The EOA consists of a yoke, a magnet, and a coil. The overall robot size is 12.2 mm x 11 mm x 9 mm (length x height x width). ...
Science Press2015Quadrupedal locomotion using hierarchical operational space control
This paper presents the application of operational space control based on hierarchical task optimization for quadrupedal locomotion. We show how the behavior of a complex robotic machine can be described by a simple set of least squares problems with diffe ...
2014On the dynamics of human locomotion and co-design of lower limb assistive devices
Recent developments in lower extremities wearable robotic devices for the assistance and rehabilitation of humans suffering from an impairment have led to several successes in the assistance of people who as a result regained a certain form of locomotive c ...
EPFL2014Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs
Auke Ijspeert, Alexander Spröwitz, Mostafa Ajallooeian, Alexandre Tuleu
In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were impl ...
Frontiers Research Foundation2014Zero-Moment Point on a bipedal robot under bio-inspired walking control
Nicolas Benoît Dominique Van der Noot, Allan Barrea
Humanoid robots are currently still far from reaching the impressive human walking capabilities. Among the different methods used to design walking controllers, those based on the Zero-Moment Point (ZMP) criterion are among the most popular, even if they i ...
IEEE2014