AIMC Topic: Locomotion
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Automated gesture tracking in head-fixed mice.
Journal of neuroscience methods
Jul 17, 2017
BACKGROUND: The preparation consisting of a head-fixed mouse on a spherical or cylindrical treadmill offers unique advantages in a variety of experimental contexts. Head fixation provides the mechanical stability necessary for optical and electrophys...
Morphological self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion.
Bioinspiration & biomimetics
Jun 20, 2017
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...
A miniaturized wall-climbing segment robot inspired by caterpillar locomotion.
Bioinspiration & biomimetics
Jun 15, 2017
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...
Gait studies for a quadrupedal microrobot reveal contrasting running templates in two frequency regimes.
Bioinspiration & biomimetics
Jun 15, 2017
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...
Template for the neural control of directed stepping generalized to all legs of MantisBot.
Bioinspiration & biomimetics
Jun 8, 2017
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 ...
Design of hair-like appendages and comparative analysis on their coordination toward steady and efficient swimming.
Bioinspiration & biomimetics
May 22, 2017
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 Developmental Robotics: Improving Morphology and Control of Physical Robots.
Artificial life
May 17, 2017
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...
Toward Multimodal Human-Robot Interaction to Enhance Active Participation of Users in Gait Rehabilitation.
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...
Physical human-robot interaction of an active pelvis orthosis: toward ergonomic assessment of wearable robots.
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...
Decentralized control mechanism underlying interlimb coordination of millipedes.
Bioinspiration & biomimetics
Apr 4, 2017
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...
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