To a large extent, robotics locomotion can be viewed as cyclic motions, named gaits. Due to the high complexity of the locomotion dynamics, to find the control laws that ensure an expected gait and its stability with respect to external perturbations...
Caterpillars are very successful soft-bodied climbers that navigate in complex environments. This paper develops a multi-segmented robot climbing on vertical surfaces using dry adhesive pads, inspired by caterpillar locomotion. The miniaturized robot...
Performance metrics such as speed, cost of transport, and stability are the driving factors behind gait selection in legged locomotion. To help understand the effect of gait on the performance and dynamics of small-scale ambulation, we explore four q...
We previously developed a neural controller for one leg of our six-legged robot, MantisBot, that could direct locomotion toward a goal by modulating leg-local reflexes with simple descending commands from a head sensor. In this work, we successfully ...
The locomotion of water beetles has been widely studied in biology owing to their remarkable swimming skills. Inspired by the oar-like legs of water beetles, designing a robot that swims under the principle of drag-powered propulsion can lead to high...
Evolutionary algorithms have previously been applied to the design of morphology and control of robots. The design space for such tasks can be very complex, which can prevent evolution from efficiently discovering fit solutions. In this article we in...
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
May 11, 2017
Robotic exoskeletons for physical rehabilitation have been utilized for retraining patients suffering from paraplegia and enhancing motor recovery in recent years. However, users are not voluntarily involved in most systems. This paper aims to develo...
Journal of neuroengineering and rehabilitation
Apr 14, 2017
BACKGROUND: In human-centered robotics, exoskeletons are becoming relevant for addressing needs in the healthcare and industrial domains. Owing to their close interaction with the user, the safety and ergonomics of these systems are critical design f...
Legged animals exhibit adaptive and resilient locomotion through interlimb coordination. The long-term goal of this study is to clarify the relationship between the number of legs and the inherent decentralized control mechanism for interlimb coordin...
Snake-like robots with 3D locomotion ability have significant advantages of adaptive travelling in diverse complex terrain over traditional legged or wheeled mobile robots. Despite numerous developed gaits, these snake-like robots suffer from unsmoot...