Soft robots hold significant potential in legged locomotion due to their inherent deformability, enabling enhanced adaptability to various environmental conditions and the generation of diverse locomotion gaits. While various soft robots... more
There is a growing international interest in developing soft wearable robotic devices to improve mobility and daily life autonomy as well as for rehabilitation purposes. Usability, comfort and acceptance of such devices will affect their... more
SummaryWearable devices are fast evolving to address mobility and autonomy needs of elderly people who would benefit from physical assistance. Recent developments in soft robotics provide important opportunities to develop soft... more
In the context of Computer Music, physical modeling is usually dedicated to the modeling of sound sources or physical instruments. This paper presents an innovative use of physical modeling in order to model and synthesize complex... more
The control of a biped humanoid is a challenging task due to the hard-to-stabilize dynamics. Walking reference trajectory generation is a key problem. Linear Inverted Pendulum Model (LIPM) and Zero Moment Point (ZMP) Criterion-based... more
This paper introduces our ongoing work consisting of evolving bio-inspired plastic neural controllers for autonomous robots submitted to various internal and external perturbations: transmission breaking, slippage, leg loss, etc. We... more
Over the last few decades, legged robots are becoming a promising solution for rough terrain navigation, however, existing legged machines often lack versatility to perform a wide range of different gaits. To build a highly dynamic and... more
The control of a biped humanoid is a challenging task due to the hard-to-stabilize dynamics. Walking reference trajectory generation is a key problem. Linear Inverted Pendulum Model (LIPM) and Zero Moment Point (ZMP) Criterion-based... more
This paper is a brief description of RO-PE-VI, our KidSize robot. Technical details on its design philosophy as well as the hardware and software implementation are provided. Comparisons with previous iterations of our robot are made to... more
Aquesta és una còpia de la versió author's final draft d'un article publicat a la revista IEEE transactions on industrial electronics.
The aim of this study was to examine the effect of oral glucose supplementation on the surface electromyographic (sEMG) signal recorded during a dynamic, fatiguing exercise protocol. Five healthy subjects participated in the study. Blood... more
A high-performance, lightweight prototype robotic leg using series-elastic actuation was developed in previous work to study the effects of series-elastic actuation in vertical jumping. However, there was also a desire to perform other... more
A high-performance, lightweight prototype robotic leg using series-elastic actuation was developed in previous work to study the effects of series-elastic actuation in vertical jumping. However, there was also a desire to perform other... more
Initial progress in symbolic reasoning was mostly discarded by the autonomous/mobile robotics community because robots usually face unpredictable environments and incomplete knowledge. As an alternative, reactive systems have taken over,... more
We present a method to measure intra-personal synchronisation of movement from motion capture data, and we show that our method is effective in classifying the level of skills of athletes performing karate kata. Our method is based on... more
Although the problem of dynamic locomotion in very rough terrain is critical to the advancement of various areas in robotics and health devices, little progress has been made on generalizing gait behavior with arbitrary paths. Here, we... more
Falls in the elderly are a major health problem affecting a third of the elderly over the age of 65. Numerous fall prevention interventions have been suggested but to date, the content of the optimal exercise program as well as its... more
A number of attempts have been made to integrate the efficiency of wheeled locomotion with the terrain versatility of legged locomotion, e.g., Univ. Michigan's Rhex platform and Case Western's Whegs. Those platforms cast legs as rotating... more
This paper proposes the design and development results of a new quadruped robot. The proposed new quadruped robot has a couple of advantages of flexible locomotion. The quadruped robot is designed and modeled based on a new concept that... more
Figure 1. Ankle behavior can be approximated by a linear torsional spring in the progression stage of the stance phase of normal gait.
Virtual model control is a motion control framework that uses virtual components to create virtual forces generated when the virtual components interact with a robot system. An algorithm derived based on the virtual model control... more
The paper focuses on stiffness matrix computation for manipulators with passive joints. It proposes both explicit analytical expressions and an efficient recursive procedure that are applicable in general case and allow obtaining the... more
Over the last few decades, legged robots are becoming a promising solution for rough terrain navigation, however, existing legged machines often lack versatility to perform a wide range of different gaits. To build a highly dynamic and... more
Spider robots, inspired by the remarkable locomotion and sensing capabilities of real spiders, have garnered significant attention for their potential applications in diverse fields. This paper investigates biomimetic approaches for... more
The PRO-ACT project aims to develop key technologies for multiple robots to work cooperatively for future lunar assembly and construction tasks. This paper provides an overview of the underlying software and hardware technologies re-used... more
Over the last few decades, legged robots are becoming a promising solution for rough terrain navigation, however, existing legged machines often lack versatility to perform a wide range of different gaits. To build a highly dynamic and... more
lowing gait transition is signifi cantly higher than the maximum spontaneous walking speed. This gap between spontaneously chosen walking and running speeds may overlap the range between PTS and EOTS, resulting in spontaneous avoidance of... more
(is paper presents an efficient technique for a self-learning dynamic walk for a quadrupedal robot. (e cost function for such a task is typically complicated, and the number of parameters to be optimized is high. (erefore, a simple... more
The Zero Moment Point (ZMP) and Centroidal Moment Pivot (CMP) are important ground reference points used for motion identification and control in biomechanics and legged robotics. Using a consistent mathematical notation, we define and... more
On rough non-cohesive terrain, mobility or stability of a mobile robot could be critical. Then, control and planning processes must be based on relevant indexes which qualify system performances or the risk of immobility or instability.... more
This paper presents a new fully automatic method for segmenting upright people in the images. Is is based on the efficient graph cut segmentation. Since colour and texture prevent from discriminating this particular class, silhouette... more
Virtual model control is a motion control framework that uses virtual components to create virtual forces generated when the virtual components interact with a robot system. An algorithm derived based on the virtual model control... more
We describe a wireless wearable system that was developed to provide quantitative gait analysis outside the confines of the traditional motion laboratory. The sensor suite includes three orthogonal accelerometers, three orthogonal... more
We describe a wireless wearable system that was developed to provide quantitative gait analysis outside the confines of the traditional motion laboratory. The sensor suite includes three orthogonal accelerometers, three orthogonal... more
For many electromyography (EMG) applications, a suitable dry electrode would simplify practical implementation of an EMG recording system. Wearable mobility monitoring is an example of such a system. Therefore, surface EMG signals, from... more
T he difficulties arising in foot modeling are inherent in its complex composition. Most models simplify the foot geometry, structure, materials and kinetic analysis. To overcome this challenge, in this study a new approach is presented,... more
The treatment of gait disorders and impairments are major challenges in physical therapy. The broad and fast development in low-cost, miniaturized, and wireless sensing technologies supports the development of embedded and unobtrusive... more
The treatment of gait disorders and impairments are major challenges in physical therapy. The broad and fast development in low-cost, miniaturized, and wireless sensing technologies supports the development of embedded and unobtrusive... more
The concept of local positive feedback, which is found in the movement control system of arthropods, can be used to generate meaningful movements in closed kinematic chains. We introduce two simple joint constructions each of which shows... more
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 disparate and conceptually disjunct... more
Bipedal gait and purposeful movement are astounding abilities of humans. The integration of spatial position, stability of balance, and locomotion is complex and the physiology is still poorly understood. Despite considerable efforts... more
Bipedal gait and purposeful movement are astounding abilities of humans. The integration of spatial position, stability of balance, and locomotion is complex and the physiology is still poorly understood. Despite considerable efforts... more
To simulate the complex human walking motion accurately, a suitable biped model has to be proposed that can significantly translate the compliance of biological structures. In this way, the simplest passive walking model is often used as... more
This paper discusses the use of the Soar cognitive architecture to control gait selection of a sixlegged robot using force sensors attached to its feet. The hardware platform also incorporated sonar sensors, a GPS receiver, and a webcam.... more
In this work, a system is developed for semantic labeling of locations based on what people do. This system is useful for semantic navigation of mobile robots. The system differentiates environments according to what people do in them.... more