Bipedal walking and push recovery with a stepping strategy based on time-projection control
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Manipulation and transport of objects using mobile robotic platforms is a well studied field with several successful approaches. The main difficulty while using such platforms is the lack of adaptation capabilities to changes in the environment and the res ...
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In the broader context of quadrupedal locomotion, this overview article introduces and compares two platforms that are similar in structure, size, and morphology, yet differ greatly in their concept of actuation. The first, ALoF, is a classically stiff act ...
Over the past decades, a large number of robotic platforms have been developed which provide rehabilitative treatments aimed at recovering walking abilities in post-stroke patients. Unfortunately, they do not significantly influence patients' performance a ...
Institute of Electrical and Electronics Engineers2012
During the uniform locomotion of compliant legged robots and other terrain vehicles, the body of the robot often exhibits complex oscillations which may have a disturbing effect on onboard sensors. For a camera mounted on such a robot, due to perspective p ...
In this paper we present our work on integrating a locomotion controller based on central pattern generator (CPG) and a motion planning algorithm using artificial potential fields for a non-holonomic crawling humanoid robot, the iCub. We also integrated a ...
This paper provides a robustness analysis of the method we recently developed for rhythmic movement assistance using adaptive oscillators. An adaptive oscillator is a mathematical tool capable of extracting high-level features (i.e. amplitude, frequency, o ...
For many real-life applications such as monitoring, mapping, search-and-rescue or ad-hoc communication networks, fleets of flying robots are expected to out-perform existing solutions. Robots can join forces to cover larger areas in less time, act as effic ...
Robotics applied to rehabilitation requires specific manipulators: Powered Orthoses. They are orthopedic devices equipped with motors and captors that enable locomotor assistance. These powered orthoses must be capable of reproducing physiological articula ...
