Locomotion assistive devices equipped with a microprocessor can potentially automatically adapt their behavior when the user is transitioning from one locomotion mode to another. Many developments in the field have come from machine learning driven c...
We propose a modular architecture for neuromorphic closed-loop control based on bistable relaxation oscillator modules consisting of three spiking neurons each. Like its biological prototypes, this basic component is robust to parameter variation but...
Many creatures have the ability to traverse challenging environments by using their active muscles with anisotropic structures as the motors in a highly coordinated fashion. However, most artificial robots require multiple independently activated act...
Randomness is common in biological and artificial systems, resulting either from stochasticity of the environment or noise in organisms or devices themselves. In locomotor control, randomness is typically considered a nuisance. For example, during dy...
Many crawling organisms such as caterpillars and worms use a method of movement in which two or more anchor points alternately push and pull the body forward at a constant frequency. In this paper we present a milliscale push-pull robot which is capa...
Locomotion at low Reynolds numbers encounters stringent physical constraints due to the dominance of viscous over inertial forces. A variety of swimming microorganisms have demonstrated diverse strategies to generate self-propulsion in the absence of...
Some insects can jump to heights that are several times their body length. At smaller scales, jumping mechanisms are constrained by issues relating to scaling of power generation, which insects have resolved over the course of their evolution. These ...
Sensors that can detect external stimuli and perceive the surrounding areas could offer an ability for soft biomimetic robots to use the sensory feedback for closed-loop control of locomotion. Although various types of biomimetic robots have been dev...
Lower-limb wearable robotic devices can improve clinical gait and reduce energetic demand in healthy populations. To help enable real-world use, we sought to examine how assistance should be applied in variable gait conditions and suggest an approach...