This paper presents mechatronic design and locomotion control of a biomimetic robotic fish that swims using thunniform kinematics for fast cruising. Propulsion of the robotic fish is realized with a parallel four-bar propulsive mechanism that deliver...
By using a two-dimensional model of ray fins, we numerically investigate the thrust generation by closely-coupled fins with an immersed boundary approach. The concentration is on the performance enhancement through fin-fin interactions and the underl...
This paper presents a bio-inspired quadruped controller that allows variable-speed galloping. The controller design is inspired by observations from biological runners. Quadrupedal animals increase the vertical impulse that is generated by ground rea...
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
25955789
This paper describes a control approach that provides walking and standing functionality for a powered ankle prosthesis, and demonstrates the efficacy of the approach in experiments with a unilateral transtibial amputee subject. Both controllers inco...
Inter-segmental coordination is crucial for the locomotion of animals. Arthropods show high variability of leg numbers, from 6 in insects up to 750 legs in millipedes. Despite this fact, the anatomical and functional organization of their nervous sys...
Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control of walking is an active research area both in neu...
In recent years there has been a growing interest in the field of dynamic walking and bio-inspired robots. However, while walking and running on a flat surface have been studied extensively, walking dynamically over terrains with varying slope remain...
Soft robotic snakes promise significant advantages in achieving traveling curvature waves with a reduced number of active segments as well as allowing for safe and adaptive interaction with the environment and human users. However, current soft robot...
Digital implementations of control laws typically involve discretization with respect to both time and space, and a control law that can achieve a task at coarser levels of discretization can be said to require less control attention, and also reduce...