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Control strategies for active lower extremity prosthetics and orthotics: a review

Michael R Tucker, Jeremy Olivier, Anna Pagel, Hannes Bleuler, Mohamed Bouri, Olivier Lambercy, José del R Millán, Robert Riener, Heike Vallery, Roger Gassert
2015 Journal of NeuroEngineering and Rehabilitation  
are practical for use in locomotive ADL.  ...  As a novel contribution, a general framework for the control of portable gait-assistance devices is proposed.  ...  loss-of-balance.  ... 
doi:10.1186/1743-0003-12-1 pmid:25557982 pmcid:PMC4326520 fatcat:hqtl3b2hcfho3b2cvhw52r72wu

The novel characteristics of pterosaurs: biological inspiration for robotic vehicles

S. Chatterjee, R. Lind, B. Roberts
2013 International Journal of Design & Nature and Ecodynamics  
This pterodactyloid had sophisticated sensor mechanisms for determining its aerodynamics, had a cranial crest that was destabilizing but provided agility, had highly articulated wings that enabled precise  ...  Bioinspiration and biomimetic have led to a variety of robotic designs, especially small autonomous unmanned aerial vehicles for urban environment that have taken cues from birds, bats, and insects.  ...  ACKNOWLEDGMENTS The authors thank Carlos A. Brebbia for inviting us to contribute this paper and Texas Tech University and University of Florida for continued support in our research.  ... 
doi:10.2495/dne-v8-n2-113-143 fatcat:ogosyow36zgd3kb7gclaxta4y4

High speed trot-running: Implementation of a hierarchical controller using proprioceptive impedance control on the MIT Cheetah

Dong Jin Hyun, Sangok Seok, Jongwoo Lee, Sangbae Kim
2014 The international journal of robotics research  
It consists of both a gait pattern modulator with a proprioceptive leg touch-down detection and a leg-trajectory generator using a Bèzier curve and a tunable amplitude sinusoidal wave.  ...  Using leg kinematics and applied motor current feedbacks, the MIT Cheetah achieved a stable trot-running gait in the sagittal plane.  ...  QUADRUPEDAL LOCOMOTIVE CONTROL FRAMEWORK This section addresses a locomotive control framework for quadrupedal robots, which is based on two hypotheses: 1) The robot's self-stabilizing behavior in locomotion  ... 
doi:10.1177/0278364914532150 fatcat:w3uami7ypjf7zkzagfl5xcal3i

A Planning and Control Framework for Humanoid Systems: Robust, Optimal, and Real-time Performance [article]

Ye Zhao
2017 arXiv   pre-print
robots, for achieving high performance and generating agile motions.  ...  This framework constitutes three hierarchical layers: First, we present a robust optimal phase-space planning framework for dynamic legged locomotion over rough terrain.  ...  This framework uses phase-space techniques to design a robust hybrid automaton in Section 3.5.4 to achieve 3D agile and versatile locomotion behaviors.  ... 
arXiv:1701.05929v1 fatcat:tqsr6sss3jeudcklibi2x6tjmy

ICVM-7 abstracts

2004 Journal of morphology  
The usefulness of a long tail as a balancing aid during arboreal locomotion highlights the puzzling nature of the evolutionary loss of a tail in the ape and human lineage.  ...  We suggest that the respiratory CPGs of mammals and amphibia have a common origin in an early air breather using a buccal "force pump."  ... 
doi:10.1002/jmor.10223 fatcat:7q7nxz3x3vdc3ooyppypfpgoee

Symposia and Oral Abstracts

2007 Integrative and Comparative Biology  
A test based on a Kendall-Moran estimator revealed no evidence of accelerated diversification across ophidians during the Miocene.  ...  Mutant strains were also complemented with appropriate genes to regain loss of function and competency was tested both in vitro an in naïve juvenile squids.  ...  A highly versatile material, it can be found in insect structures used for locomotion, breathing, feeding, sound production, vision, and as a base for sensory hairs.  ... 
doi:10.1093/icb/icm104 fatcat:uqdscbqihbeoxoo2unutfwtmdi

A planning and control framework for humanoid systems : robust, optimal, and real-time performance [article]

Zhao, Ye, Active 2013
2016
This framework uses phase-space techniques to design a robust hybrid automaton in Section 3.5.4 to achieve 3D agile and versatile locomotion behaviors.  ...  framework capable of generating agile, optimal, and robust locomotion patterns.  ...  In contrast to using a traditional time discretization, our study discretizes the CoM sagittal position.  ... 
doi:10.15781/t2445hj2x fatcat:s3ozcnhigfgxhmgym33bd4ih6y

Control of Bio-Inspired Sprawling Posture Quadruped Robots with an Actuated Spine

Tomislav Horvat
2018
The proposed framework involves the use of fast reflexes and adjustments of the robot's attitude. Similar reflex based strategy was used on a HyQ robot [53] .  ...  As it proved to be a versatile, Chapter 1.  ...  The remaining distances were summed and used as a measure of precision.  ... 
doi:10.5075/epfl-thesis-8788 fatcat:mtd35y3cmvhklbjurfeoc3icue

ASPA 23rd Congress Book of Abstracts

Fulvia Bovera
2019 Italian Journal of Animal Science  
Hansen A/S, Denmark. This article is based upon work from COST Action FA1401 PiGutNet, supported by COST (European Cooperation in Science and Technology).  ...  P114 Familiarity and preference of Lucanian consumers for animal-based products Acknowledgements This work is part of the Italian Taste project, a conjoint study of the Italian Sensory Science Society  ...  The RNA integrity and concentration were measured with an Agilent Bioanalyzer 2100.  ... 
doi:10.1080/1828051x.2019.1622269 fatcat:7qufgthjzbggtcsbbxhge7ajgu

Development of Walk Assistive Orthoses for Elderly

Jeremy Olivier
2016
Acknowledgements Acknowledgements also played a major role at the beginning of this work. Thanks to Benoit Thévenaz and his coaches we made a big step forward in understanding the users' needs.  ...  The exceptional work done by Paul Bertusi, Amalric Ortlieb, Maxime Jeanneret and Tristan Vouga notably led to great achievements.  ...  Specific characteristics such as the step length and height or their symmetry are evaluated. For a complete description, see (Tinetti and Haven, 1986) .  ... 
doi:10.5075/epfl-thesis-6947 fatcat:qna4pwp3cra6bkct7femqadv2e