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Evaluating Morphological Computation in Muscle and DC-Motor Driven Models of Hopping Movements

Keyan Ghazi-Zahedi, Daniel F. B. Haeufle, Guido Montúfar, Syn Schmitt, Nihat Ay
2016 Frontiers in Robotics and AI  
As an example, these measures were evaluated on muscle and DC-motor driven hopping models.  ...  In this work, we evaluate two different measures of morphological computation that can be applied in robotic systems and in computer simulations of biological movement.  ...  ACKNOWLEDGMENTS The DC-motor model is based on a Simulink model provided by Roger Aarenstrup ( fileexchange/11829-dc-motor-model).  ... 
doi:10.3389/frobt.2016.00042 fatcat:6uzxsmokg5b4xfuu4c52gknuou

A Bio-Inspired Hopping Kangaroo Robot with an Active Tail

Guan-Horng Liu, Hou-Yi Lin, Huai-Yu Lin, Shao-Tuan Chen, Pei-Chun Lin
2014 Journal of Bionic Engineering  
Finally, the experimental evaluation is executed to validate the performance of the kangaroo-style robot with hopping locomotion.  ...  In this work, we generate the Center of Mass (CoM) locomotion of the robot based on the reduced-order Rolling Spring Loaded Inverted Pendulum (R-SLIP) model, for matching the dynamic behavior of the empirical  ...  Acknowledgment The authors would like to thank Chun-Kai Huang for discussing the development issues in mathematical modeling, sensor developing, and programming.  ... 
doi:10.1016/s1672-6529(14)60066-4 fatcat:vqmaisfilfhr3ieadyuszcxxoq

Musculoskeletal Robots: Scalability in Neural Control

Christoph Richter, Soren Jentzsch, Rafael Hostettler, Jesus A. Garrido, Eduardo Ros, Alois Knoll, Florian Rohrbein, Patrick van der Smagt, Jorg Conradt
2016 IEEE robotics & automation magazine  
Combining Myorobotics, a framework for musculoskeletal robot development, with SpiNNaker, a neuromorphic computing platform, we present the proof-of-principle of a system that can scale to dozens of neurally-controlled  ...  At its core, it implements a closed-loop cerebellar model which provides real-time low-level neural control at minimal power consumption and maximal extensibility: higher-order (e.g., cortical) neural  ...  Luque for helpful discussions regarding cerebellar motor control; S.  ... 
doi:10.1109/mra.2016.2535081 fatcat:zrlwcexvcvd3vidnsjmy3e7hy4

Human-like hopping in machines

Jonathan Oehlke, Philipp Beckerle, André Seyfarth, Maziar A. Sharbafi
2018 Biological cybernetics  
In this paper, a spring-loaded inverted pendulum (SLIP) model is employed to control vertical hopping of a 2-segmented legged robot.  ...  The results demonstrate similarity of human and robot hopping. Moreover, the feedback control proves to simplify and improve hopping control.  ...  , and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.  ... 
doi:10.1007/s00422-018-0788-4 pmid:30370464 pmcid:PMC6510817 fatcat:bycwz33qezcxfhkgalbw4blvka

Visual Perturbation to Enhance Return to Sport Rehabilitation after Anterior Cruciate Ligament Injury: A Clinical Commentary

Timothy R Wohl, Cody R Criss, Dustin R Grooms
2021 International Journal of Sports Physical Therapy  
Anterior cruciate ligament (ACL) tears are common traumatic knee injuries causing joint instability, quadriceps muscle weakness and impaired motor coordination.  ...  motor tasks and/or increase visuomotor processing efficiency.  ...  Quadriceps muscle function following anterior cruciate ligament reconstruction: systemic differences in neural and morphological characteristics.  ... 
doi:10.26603/001c.21251 pmid:33842051 pmcid:PMC8016421 fatcat:3qxaq5q45zgo3msf5jijcpwoge

2020 Index IEEE Transactions on Industrial Informatics Vol. 16

2020 IEEE Transactions on Industrial Informatics  
Forests-Based Model for Ultra-Short-Term Prediction of PV Characteristics; TII Jan. 2020 202-214 Imran, A., see Hussain, B., TII Aug. 2020 4986-4996 Imran, M., see Fu, S., TII Sept. 2020 6013-6022  ...  -5149 Meng, K., see Zhang, Y., TII July 2020 4390-4402 Meng, K., Jia, Y., Yang, H., Niu, F., Wang, Y., and Sun, D., Motion Planning and Robust Control for the Endovascular Navigation of a Microrobot  ...  ., +, TII Dec. 2020 7413-7425 DC motors A Data-Driven Attack Detection Approach for DC Servo Motor Systems Based on Mixed Optimization Strategy.  ... 
doi:10.1109/tii.2021.3053362 fatcat:blfvdtsc3fdstnk6qoaazskd3i

Improving Efficiency for an Open-Loop-Controlled Locomotion With a Pulsed Actuation

Jonathan Hunt, Fabio Giardina, Andre Rosendo, Fumiya Iida
2016 IEEE/ASME transactions on mechatronics  
This paper investigates two of the most basic forms of control input, sinusoidal and pulsed signals, to be used in a class of hopping robot based on parallel elastic actuation.  ...  Open-loop control strategies for legged robot locomotion have been investigated by many researchers because of the advantages in terms of simplicity and robustness, although the influence of control inputs  ...  The energy input to the motor was used for the evaluation of the cost of transport, serving as the input E i from Eqn. 8.  ... 
doi:10.1109/tmech.2016.2539206 fatcat:nseh6zmtwza3vnrh6ey346kbpm

Integrative Biomimetics of Autonomous Hexapedal Locomotion

Volker Dürr, Paolo P. Arena, Holk Cruse, Chris J. Dallmann, Alin Drimus, Thierry Hoinville, Tammo Krause, Stefan Mátéfi-Tempfli, Jan Paskarbeit, Luca Patanè, Mattias Schäffersmann, Malte Schilling (+5 others)
2019 Frontiers in Neurorobotics  
In a sequence of six focus sections dealing with aspects of intelligent, embodied motor control in insects and multipedal robots-ranging from compliant actuation, distributed proprioception and control  ...  Despite substantial advances in many different fields of neurorobotics in general, and biomimetic robots in particular, a key challenge is the integration of concepts: to collate and combine research on  ...  The electronics boards for reading out the strain gauge pairs shown in Figure 4 were kindly designed and manufactured by the Cognitronics and Sensor Systems group of the Technical Faculty of Bielefeld  ... 
doi:10.3389/fnbot.2019.00088 pmid:31708765 pmcid:PMC6819508 fatcat:52w565eyczgvleem5vlnlerm7i

Mathematics of Human Motion: from Animation towards Simulation (A View form the Outside) [article]

A.I. Zhmakin
2011 arXiv   pre-print
Simulation of human motion is the subject of study in a number of disciplines: Biomechanics, Robotics, Computer Animation, Control Theory, Neurophysiology, Medicine, Ergonomics.  ...  On the other hand, he happens to be a human (who occasionally is moving) and, as everybody else, rates himself an expert in Applied Common Sense.  ...  When the evaluation metric was changed to the forward motion of the point between the figure's feet, the GA produced more interesting walking/hopping motions.  ... 
arXiv:1102.4992v1 fatcat:vf63c7dtqfdsra562sxlb7uh2m

An Overview on Principles for Energy Efficient Robot Locomotion

Navvab Kashiri, Andy Abate, Sabrina J. Abram, Alin Albu-Schaffer, Patrick J. Clary, Monica Daley, Salman Faraji, Raphael Furnemont, Manolo Garabini, Hartmut Geyer, Alena M. Grabowski, Jonathan Hurst (+12 others)
2018 Frontiers in Robotics and AI  
To this end, a set of locomotion principles elaborating on models for energetics, dynamics, and of the systems is studied.  ...  We review various robotic actuators exploiting compliance in series and in parallel with the drive-train to permit energy recycling during locomotion.  ...  AUTHOR CONTRIBUTIONS All authors listed have made a substantial, direct and intellectual contribution to the work, and approved it for publication.  ... 
doi:10.3389/frobt.2018.00129 pmid:33501007 pmcid:PMC7805619 fatcat:dwrykp2fofg7zelyir5ii6n6se

Control of Mammalian Locomotion by Somatosensory Feedback

Alain Frigon, Turgay Akay, Boris I. Prilutsky
2021 Comprehensive Physiology  
When animals walk overground, mechanical stimuli activate various receptors located in muscles, joints, and skin.  ...  We then discuss experimental approaches and animal models used to investigate the control of locomotion by somatosensory feedback before providing an overview of the different functional roles of somatosensory  ...  Acknowledgements We thank Jonathan Harnie for his help with some of the figures. We also thank Tatiana  ... 
doi:10.1002/cphy.c210020 pmid:34964114 fatcat:bnsdagxjmjdbxl62h5ejzw4iha

Parametric models for motion planning and control in biomimetic robotics

G.S. Dordevic, M. Rasic, R. Shadmehr
2005 IEEE Transactions on robotics  
We describe the design, testing and tools to build parametric models of a six-legged cockroach-like robot for velocity control without precise knowledge on the robot's geometry or its inertia.  ...  Robot legs were made by Shape Deposition Manufacturing and were compliant at the "knee." These kinds of robots usually have a limited number of actuators and a small number of low-cost sensors.  ...  Cutkosky and the Stanford Center for Design Research for providing us with legs, actuators, and parts of the experimental setup. Parts of the experiments were run by S. Andelković and D.  ... 
doi:10.1109/tro.2004.833820 fatcat:fgj354wx4fcupolfuke4welibu

28th Annual Computational Neuroscience Meeting: CNS*2019

2019 BMC Neuroscience  
Activity from both the LP and PD neurons of the stomatogastric ganglion of a crab was recorded using intracellular electrodes and sent to a computer through a DAQ device.  ...  We have recently revealed the presence of dynamical invariants in the pyloric CPG in the form of cycle-by-cycle linear relations among specific time intervals and the instantaneous period [4].  ...  The muscle synergy hypothesis of motor control posits that simple common patterns of muscle behaviour are combined together to produce complex limb movements.  ... 
doi:10.1186/s12868-019-0538-0 fatcat:3pt5qvsh45awzbpwhqwbzrg4su

ICVM-7 abstracts

2004 Journal of morphology  
Hopping mechanics were evaluated with combined high-speed video and ground reaction force measurements during level, steady hopping, as this is an activity commonly observed in both species.  ...  Current description of in-series organization in longitudinal muscles provides morphological support for previous physiological demonstration of anteroposterior localization of longitudinal motor units  ... 
doi:10.1002/jmor.10223 fatcat:7q7nxz3x3vdc3ooyppypfpgoee

Bayesian Optimization Using Domain Knowledge on the ATRIAS Biped [article]

Akshara Rai, Rika Antonova, Seungmoon Song, William Martin, Hartmut Geyer, Christopher G. Atkeson
2017 arXiv   pre-print
In this paper, we present a generalized feature transform applicable to non-humanoid robot morphologies and evaluate it on the ATRIAS bipedal robot -- in simulation and on hardware.  ...  Our results show that this feature transform captures important aspects of walking and accelerates learning on hardware and simulation, as compared to traditional BO.  ...  The legs are actuated by 2 Series Elastic Actuators (SEAs) in the sagittal plane and a DC motor in the lateral plane.  ... 
arXiv:1709.06047v1 fatcat:kvywd4e5avaz5dxxryltc4ifyq
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