Gait Optimization for Roombots Modular Robots - Matching Simulation and Reality
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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 ...
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 ...
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
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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
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 ...
Robotic animals are nowadays developed for various types of research, such as bio-inspired robotics, biomimetics and animal behavior studies. The miniaturization of technologies and the increase in performance of embedded systems allowed engineers to devel ...
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
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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 ...
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 ...
Reconfigurability in versatile systems of modular robots is achieved by appropriate actuation of their modular units. Optimized distribution of active modules in the modular architecture can significantly reduce cost and energy in the reconfiguration tasks ...
