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Undulatory Swimming Locomotion Driven by CPG with Multimodal Local Sensory Feedback

Publications associées (32)

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A multi-modal hovering and terrestrial robot with adaptive morphology

Dario Floreano, Stefano Mintchev

Most current drones are designed with a static morphology aimed at exploiting a single locomotion mode. This results in limited versatility and adaptability to multi-domain environments, such as those encountered in rescue missions, agriculture and inspect ...

2018

Thanks to better actuator technologies and control algorithms, humanoid robots to date can perform a wide range of locomotion activities outside lab environments. These robots face various control challenges like high dimensionality, contact switches durin ...

EPFL2018

Introduction to discrete modelling : Modelling slithering locomotion

Meriton Beqiraj

The study of animal locomotion is vast since animals have various shapes and modes of locomotion. It finds multiple applications especially in robotics. In this report, the focus will be put on snake locomotion. However snakes still have various techniques ...

2018

Rich and Robust Bio-Inspired Locomotion Control for Humanoid Robots

Nicolas Benoît Dominique Van der Noot

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

In animal locomotion, either in fish or flying insects, the use of flexible terminal organs or appendages greatly improves the performance of locomotion (thrust and lift). In this article, we propose a general unified framework for modeling and simulating ...

Springer2017

Development of Bio-inspired Underwater Robot with Adaptive Morphology Capable of Multiple Swimming Modes

Dario Floreano, Stefano Mintchev, Jun Shintake, Thibaut André Pierre Paschal

Bio-inspired underwater robots have several benefits compared to traditional underwater vehicles such as agility, efficiency, and an environmentally friendly body. However, the bio-inspired underwater robots developed so far have a single swimming mode, wh ...

2017

An important topic in designing neuroprosthetic devices for animals or patients with spinal cord injury is to find the right brain regions with which to interface the device. In vertebrates, an interesting target could be the reticulospinal (RS) neurons, w ...

IEEE2016

Morphology plays an important role in behavioral and locomotion strategies of living and artificial systems. There is biological evidence that adaptive morphological changes can not only extend dynamic performances by reducing tradeoffs during locomotion b ...

Ieee-Inst Electrical Electronics Engineers Inc2016

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This paper presents the results of a study on the effect of in-series compliance on the locomotion of a simulated 8-DoF Lola-OP Modular Snake Robot with added compliant elements. We explore whether there is an optimal stiffness for gait, terrain type, or s ...

2015

On the dynamics of human locomotion and co-design of lower limb assistive devices

Jesse van den Kieboom

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 ...

EPFL2014