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Gait Optimization for Roombots Modular Robots - Matching Simulation and Reality

Publications associées (78)

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An Overview on Principles for Energy Efficient Robot Locomotion

Salman Faraji

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 ...

FRONTIERS MEDIA SA2018

Towards Agility: Definition, Benchmark and Design Considerations for Small, Quadrupedal Robots

Peter Eckert

Agile quadrupedal locomotion in animals and robots is yet to be fully understood, quantified or achieved. An intuitive notion of agility exists, but neither a concise definition nor a common benchmark can be found. Further, it is unclear, what minimal leve ...

EPFL2018

A Soft Robot for Random Exploration of Terrestrial Environments

Dario Floreano, Stefano Mintchev, Davide Zappetti, Jérémie Willemin

A swarm of randomly moving miniature robots is an effective solution for the exploration of unknown terrains. However, the deployment of a swarm of miniature robots poses two challenges: finding an adequate locomotion strategy for fast exploration and obst ...

IEEE2018

Closed-Loop Functional Electrical Stimulation for Gait Training for Patients with Paraplegia

Mohamed Bouri, Solaiman Shokur

This paper presents a novel functional electrical stimulation paradigm to generate locomotion in paraplegic patients. We propose a closed-loop surface functional electrical stimulation (sFES) of 16 lower-limb muscles to produce all subphases of the gait. T ...

IEEE2018

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Compliance of the body has a crucial role on locomotion performance. The levels and the distribution of compliance should be well tuned to obtain efficient gait. The leg stiffness changes significantly even during different phases of a single gait cycle. T ...

TAYLOR & FRANCIS LTD2018

Quasi-static piezoelectric actuators are used in micro-robotics due to the small displacements they can achieve, and they have been proved suitable for Self-Sensing Actuation (SSA) applications. The fabrication parameters of an actuator (i.e. morphology, s ...

IEEE2018

We present a new framework to generate human-like lower-limb trajectories in periodic and non-periodic walking conditions. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to model falling, swing and ...

2018

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 ...

EPFL2017

Interactive locomotion: Investigation and modeling of physically-paired humans while walking

Auke Ijspeert, Seyed Hamed Razavi, Jessica Lanini

In spite of extensive studies on human walking, less research has been conducted on human walking gait adaptation during interaction with another human. In this paper, we study a particular case of interactive locomotion where two humans carry a rigid obje ...

Public Library of Science2017

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Quantifying daily physical activity in older adults can provide relevant monitoring and diagnostic information about risk of fall and frailty. In this study, we introduce instrumented shoes capable of recording movement and foot loading data unobtrusively ...

Elsevier2016