Gait Optimization for Roombots Modular Robots - Matching Simulation and Reality
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Scaling down robots to miniature size introduces many new challenges including memory and program size limitations, low processor performance and low power autonomy. In this paper we describe the concept and implementation of learning of a safewandering ta ...
Pelvic motions are of great importance while walking, and have thus to be taken into account when developing and controlling rehabilitation devices. This paper will first introduce a new reeducation devices for paraplegic people: the WalkTrainer. This devi ...
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In this contribution we present a CPG (central pattern generator) controller based on coupled Rössler systems. It is able to generate both limit cycle and chaotic behaviors through bifurcation. We develop an experimental test bench to measure quantitativel ...
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 ...
A method is presented to predict phase relationships between coupled phase oscillators. As an illustration of how the method can be applied, a distributed Central Pattern Generator (CPG) model based on amplitude controlled phase oscillators is presented. R ...
This article addresses the problem of how modular robotics systems, i.e. systems composed of multiple modules that can be configured into different robotic structures, can learn to locomote. In particular, we tackle the problems of online learning, that is ...
In this contribution we present experiments of an adaptive locomotion controller on a compliant quadruped robot. The adaptive controller consists of adaptive frequency oscillators in different configurations and produces dynamic gaits such as bounding and ...