Science robotics
Mar 13, 2024
Performing agile navigation with four-legged robots is a challenging task because of the highly dynamic motions, contacts with various parts of the robot, and the limited field of view of the perception sensors. Here, we propose a fully learned appro...
IEEE journal of biomedical and health informatics
Mar 6, 2024
The analysis of human locomotion is highly dependent on the quantity and quality of available data to obtain reliable evidence, due to the great variability of gait characteristics between subjects. Researchers usually have to make significant effort...
Bioinspiration & biomimetics
Feb 28, 2024
This paper proposes a generalized spring-loaded inverted pendulum (G-SLIP) model to explore various popular reduced-order dynamic models' characteristics and suggest a better robot leg design under specified performance indices. The G-SLIP model's co...
Biomedical engineering online
Feb 15, 2024
Human-robot walking with prosthetic legs and exoskeletons, especially over complex terrains, such as stairs, remains a significant challenge. Egocentric vision has the unique potential to detect the walking environment prior to physical interactions,...
Scientific reports
Feb 13, 2024
Physical human-robot interactions (pHRI) often provide mechanical force and power to aid walking without requiring voluntary effort from the human. Alternatively, principles of physical human-human interactions (pHHI) can inspire pHRI that aids walki...
Soft robotics
Feb 8, 2024
The field of soft robotics is rapidly evolving, and there is a growing interest in developing soft robots with bioinspired features for use in various applications. This research presented the design and development of 3D-printed origami actuators fo...
Science robotics
Jan 24, 2024
We present an avatar system designed to facilitate the embodiment of humanoid robots by human operators, validated through iCub3, a humanoid developed at the Istituto Italiano di Tecnologia. More precisely, the paper makes two contributions: First, w...
Bioinspiration & biomimetics
Jan 17, 2024
Inching-locomotion caterpillars (ILAR) show impressive environmental adaptation, having high dexterity and flexibility. To design robots that mimic these abilities, a novel bioinspired robotic design (BIROD) method is presented. The method is compose...
Sensors (Basel, Switzerland)
Dec 29, 2023
Conventional trajectory planning for lower limb assistive devices usually relies on a finite-state strategy, which pre-defines fixed trajectory types for specific gait events and activities. The advancement of deep learning enables walking assistive ...
Science robotics
Dec 20, 2023
Limbless locomotors, from microscopic worms to macroscopic snakes, traverse complex, heterogeneous natural environments typically using undulatory body wave propagation. Theoretical and robophysical models typically emphasize body kinematics and acti...