LeggedWalking on Inclined Surfaces

The main contribution of this MS Thesis is centered around taking steps towards successful multi-modal demonstrations using Northeastern's legged-aerial robot, Husky Carbon. This work discusses the challenges involved in achieving multi-modal locomotion such as trotting-hovering and thruster-assisted incline walking and reports progress made towards overcoming these challenges. Animals like birds use a combination of legged and aerial mobility, as seen in Chukars' wing-assisted incline running (WAIR), to achieve multi-modal locomotion. Chukars use forces generated by their flapping wings to manipulate ground contact forces and traverse steep slopes and overhangs. Husky's design takes inspiration from birds such as Chukars. This MS thesis presentation outlines the mechanical and electrical details of Husky's legged and aerial units. The thesis presents simulated incline walking using a high-fidelity model of the Husky Carbon over steep slopes of up to 45 degrees.Comment: Masters thesi

From spinal central pattern generators to cortical network: integrated BCI for walking rehabilitation

Success in locomotor rehabilitation programs can be improved with the use of brain-computer interfaces (BCIs). Although a wealth of research has demonstrated that locomotion is largely controlled by spinal mechanisms, the brain is of utmost importance in monitoring locomotor patterns and therefore contains information regarding central pattern generation functioning. In addition, there is also a tight coordination between the upper and lower limbs, which can also be useful in controlling locomotion. The current paper critically investigates different approaches that are applicable to this field: the use of electroencephalogram (EEG), upper limb electromyogram (EMG), or a hybrid of the two neurophysiological signals to control assistive exoskeletons used in locomotion based on programmable central pattern generators (PCPGs) or dynamic recurrent neural networks (DRNNs). Plantar surface tactile stimulation devices combined with virtual reality may provide the sensation of walking while in a supine position for use of training brain signals generated during locomotion. These methods may exploit mechanisms of brain plasticity and assist in the neurorehabilitation of gait in a variety of clinical conditions, including stroke, spinal trauma, multiple sclerosis, and cerebral palsy

A Bipedal Mechanical Walker with Balancing Mechanism

Walkers are mechanical leg devices which perform motion similar to a physiological walk of animals or humans. They have many different usages among which the application for medical rehabilitation of injured persons not capable of walking is the most important. This paper presents the mechanism embedded in a mechanical walker by which the balancing of a human mass centre is accomplished. The benefit of such kind of mechanism is that a walker device with the balanced mass centre can be supplied with the feet of a smaller size. Moreover, it generates more pleasant walking movement, similar to the physiological bipedal motion. This mechanism has been calculated, 3D modelled and its operation simulated, analysed and numerically and graphically described. Finally, the motion of the chosen referent point on the mechanical walker obtained by the simulation is compared with the motion of the corresponding referent point on the human body acquired by camera. The results of this comparison disclosed that trajectories of the chosen referent points on the mechanical walker and human body are almost overlapped. Thus, it has been proven that the mechanism proposed in this paper is capable to balance the mass centre of a human body correctly

A Bipedal Mechanical Walker with Balancing Mechanism

Walkers are mechanical leg devices which perform motion similar to a physiological walk of animals or humans. They have many different usages among which the application for medical rehabilitation of injured persons not capable of walking is the most important. This paper presents the mechanism embedded in a mechanical walker by which the balancing of a human mass centre is accomplished. The benefit of such kind of mechanism is that a walker device with the balanced mass centre can be supplied with the feet of a smaller size. Moreover, it generates more pleasant walking movement, similar to the physiological bipedal motion. This mechanism has been calculated, 3D modelled and its operation simulated, analysed and numerically and graphically described. Finally, the motion of the chosen referent point on the mechanical walker obtained by the simulation is compared with the motion of the corresponding referent point on the human body acquired by camera. The results of this comparison disclosed that trajectories of the chosen referent points on the mechanical walker and human body are almost overlapped. Thus, it has been proven that the mechanism proposed in this paper is capable to balance the mass centre of a human body correctly

Structural attributes contributing to locomotor performance in the ostrich

As the fastest long-endurance runner, the bipedal ostrich (Struthio camelus) was selected as a prime model organism to investigate the physical attributes underlying this advanced locomotor performance. A specific integrative approach combining morphological, morphometric, kinematic and pedobarographic methods was developed. The comparative morphometric analysis of the hind limbs of all ratite species revealed that leg segment ratios in the ostrich are the most specialised for efficient locomotion, especially when taking into consideration its unique supra-jointed toe posture. In addition, the crural muscle mass is more concentrated towards the hip joint in the ostrich than in its ratite relatives. According to the Law of the Pendulum, this concentration of mass towards the pivot point – in concert with the relatively longest and lightest distal leg elements – represents a mechanical optimisation of limb swinging capacities. While musculature clearly drives limb movement, the passive guidance and constraint of motion range by ligamentous structures combined with joint surface contours allows a high level of energy output efficiency during all stages of locomotion and ensures articular stability during slow locomotion as well as high-speed performance. So far, the influence of these passive effects in locomotion has been largely ignored. In order to quantify the guiding effect of these anatomical structures, kinematic data of adult ostriches during walking and running were collected. Subsequently, these data were compared with results from manual manipulation experiments performed with the limbs of anatomical specimens – both fully intact and with muscles removed – leaving only the ligament system intact. This investigation revealed that the range of motion among leg segments was nearly identical in all sample groups, especially in regard to maximum extension values. This indicates that ostrich hind limb dynamics are managed to a significant degree by passive elements that ensure a controlled swing-plane with minimal deviation from an optimal attitude. Further dissections allowed some of these features to be described in detail, with an emphasis on functional-morphological examination of the intertarsal joint. The intertarsal joint contains a significant locking mechanism, briefly mentioned in historical documents, but described and functionally analysed herein for the first time. The functional examination qualified the interplay of three collateral ligaments, the tendinous M. fibularis brevis and specific joint surface protrusions as the basis for this effect which remains absent in smaller ground-dwelling bird species. A proximate quantification, based on comparative morphological and kinematic data, revealed function of Struthio's passively locked intertarsal joint as a potent stabiliser in the supporting limb during the ground-contact phase of locomotion. During stance phase, it is crucial that the supporting limb is stabilised internally and in relation to the substrate. As yet, no study exists concerning use and loading of the actual ground contact elements. The toes must absorb body mass, guarantee stable grip and provide energetic push off. Obvious specialisations of the ostrich's phalangeal complex include toe reduction (leaving only 3rd and 4th toe), claw reduction (only at 3rd toe) and a permanently elevated metatarsophalangeal joint. Using a relatively new methodology to examine in vivo toe function, pedobarography was employed on specifically trained ostriches to allow extensive collection of Centre of Pressure (CoP) and load distribution (LD) data. In contrast to a relatively predictable CoP trajectory at all speeds, conspicuous LD differences were observed between slow and fast trials. Load was distributed rather inconsistently during walking, while a typical tripod-like toe-print occurred in all running trials to presumably deliver additional stability during the comparatively short stance phase. Significant grip is provided by the highly directed impact of the 3rd toe claw-tip, suggesting its important function as a positional anchor during running. Pedobarographic analysis further showed the importance of the 4th toe as an outrigger to maintain balance, rendering a future reduction highly unlikely. In conclusion, the application of interdisciplinary methodologies allowed comprehensive data collection and integration of the model organism within its ecological context. The data gained from this thesis increases the current knowledge about ostrich locomotion by identifying distinct structural attributes as essential elements for extreme cursorial performance. The present data may alter existing models for calculation of the metabolic cost of terrestrial locomotion and aid in the reconstruction of theropod locomotion, as these branch sciences often overlook the important role of ligaments and passively-coupled motion cycles in reducing the cost of locomotion

A Bio-inspired architecture for adaptive quadruped locomotion over irregular terrain

Tese de doutoramento Programa Doutoral em Engenharia Electrónica e de ComputadoresThis thesis presents a tentative advancement on walking control of small quadruped and humanoid position controlled robots, addressing the problem of walk generation by combining dynamical systems approach to motor control, insights from neuroethology research on vertebrate motor control and computational neuroscience. Legged locomotion is a complex dynamical process, despite the seemingly easy and natural behavior of the constantly present proficiency of legged animals. Research on locomotion and motor control in vertebrate animals from the last decades has brought to the attention of roboticists, the potential of the nature’s solutions to robot applications. Recent knowledge on the organization of complex motor generation and on mechanics and dynamics of locomotion has been successfully exploited to pursue agile robot locomotion. The work presented on this manuscript is part of an effort on the pursuit in devising a general, model free solution, for the generation of robust and adaptable walking behaviors. It strives to devise a practical solution applicable to real robots, such as the Sony’s quadruped AIBO and Robotis’ DARwIn- OP humanoid. The discussed solutions are inspired on the functional description of the vertebrate neural systems, especially on the concept of Central Pattern Generators (CPGs), their structure and organization, components and sensorimotor interactions. They use a dynamical systems approach for the implementation of the controller, especially on the use of nonlinear oscillators and exploitation of their properties. The main topics of this thesis are divided into three parts. The first part concerns quadruped locomotion, extending a previous CPG solution using nonlinear oscillators, and discussing an organization on three hierarchical levels of abstraction, sharing the purpose and knowledge of other works. It proposes a CPG solution which generates the walking motion for the whole-leg, which is then organized in a network for the production of quadrupedal gaits. The devised solution is able to produce goal-oriented locomotion and navigation as directed through highlevel commands from local planning methods. In this part, active balance on a standing quadruped is also addressed, proposing a method based on dynamical systems approach, exploring the integration of parallel postural mechanisms from several sensory modalities. The solutions are all successfully tested on the quadruped AIBO robot. In the second part, is addressed bipedal walking for humanoid robots. A CPG solution for biped walking based on the concept of motion primitives is proposed, loosely based on the idea of synergistic organization of vertebrate motor control. A set of motion primitives is shown to produce the basis of simple biped walking, and generalizable to goal-oriented walking. Using the proposed CPG, the inclusion of feedback mechanisms is investigated, for modulation and adaptation of walking, through phase transition control according to foot load information. The proposed solution is validated on the humanoid DARwIn-OP, and its application is evaluated within a whole-body control framework. The third part sidesteps a little from the other two topics. It discusses the CPG as having an alternative role to direct motor generation in locomotion, serving instead as a processor of sensory information for a feedback based motor generation. In this work a reflex based walking controller is devised for the compliant quadruped Oncilla robot, to serve as purely feedback based walking generation. The capabilities of the reflex network are shown in simulations, followed by a brief discussion on its limitations, and how they could be improved by the inclusion of a CPG.Esta tese apresenta uma tentativa de avanço no controlo de locomoção para pequenos robôs quadrúpedes e bipedes controlados por posição, endereçando o problema de geração motora através da combinação da abordagem de sistemas dinâmicos para o controlo motor, e perspectivas de investigação neuroetologia no controlo motor vertebrado e neurociência computacional. Andar é um processo dinâmico e complexo, apesar de parecer um comportamento fácil e natural devido à presença constante de animais proficientes em locomoção terrestre. Investigação na área da locomoção e controlo motor em animais vertebrados nas últimas decadas, trouxe à atenção dos roboticistas o potencial das soluções encontradas pela natureza aplicadas a aplicações robóticas. Conhecimento recente relativo à geração de comportamentos motores complexos e da mecânica da locomoção tem sido explorada com sucesso na procura de locomoção ágil na robótica. O trabalho apresentado neste documento é parte de um esforço no desenho de uma solução geral, e independente de modelos, para a geração robusta e adaptável de comportamentos locomotores. O foco é desenhar uma solução prática, aplicável a robôs reais, tal como o quadrúpede Sony AIBO e o humanóide DARwIn-OP. As soluções discutidas são inspiradas na descrição funcional do sistema nervoso vertebrado, especialmente no conceito de Central Pattern Generators (CPGs), a sua estrutura e organização, componentes e interacção sensorimotora. Estas soluções são implementadas usando uma abordagem em sistemas dinâmicos, focandos o uso de osciladores não lineares e a explorando as suas propriedades. Os tópicos principais desta tese estão divididos em três partes. A primeira parte explora o tema de locomoção quadrúpede, expandindo soluções prévias de CPGs usando osciladores não lineares, e discutindo uma organização em três níveis de abstracção, partilhando as ideias de outros trabalhos. Propõe uma solução de CPG que gera os movimentos locomotores para uma perna, que é depois organizado numa rede, para a produção de marcha quadrúpede. A solução concebida é capaz de produzir locomoção e navegação, comandada através de comandos de alto nível, produzidos por métodos de planeamento local. Nesta parte também endereçado o problema da manutenção do equilíbrio num robô quadrúpede parado, propondo um método baseado na abordagem em sistemas dinâmicos, explorando a integração de mecanismos posturais em paralelo, provenientes de várias modalidades sensoriais. As soluções são todas testadas com sucesso no robô quadrupede AIBO. Na segunda parte é endereçado o problema de locomoção bípede. É proposto um CPG baseado no conceito de motion primitives, baseadas na ideia de uma organização sinergética do controlo motor vertebrado. Um conjunto de motion primitives é usado para produzir a base de uma locomoção bípede simples e generalizável para navegação. Esta proposta de CPG é usada para de seguida se investigar a inclusão de mecanismos de feedback para modulação e adaptação da marcha, através do controlo de transições entre fases, de acordo com a informação de carga dos pés. A solução proposta é validada no robô humanóide DARwIn-OP, e a sua aplicação no contexto do framework de whole-body control é também avaliada. A terceira parte desvia um pouco dos outros dois tópicos. Discute o CPG como tendo um papel alternativo ao controlo motor directo, servindo em vez como um processador de informação sensorial para um mecanismo de locomoção puramente em feedback. Neste trabalho é desenhado um controlador baseado em reflexos para a geração da marcha de um quadrúpede compliant. As suas capacidades são demonstradas em simulação, seguidas por uma breve discussão nas suas limitações, e como estas podem ser ultrapassadas pela inclusão de um CPG.The presented work was possible thanks to the support by the Portuguese Science and Technology Foundation through the PhD grant SFRH/BD/62047/2009

Reversible silencing of spinal neurons unmasks a left-right coordination continuum.

This dissertation is focused on dissecting the functional role of two anatomically-defined pathways in the adult rat spinal cord. A TetOn dual virus system was used to selectively and reversibly induce enhanced tetanus neurotoxin expression in L2 neurons that project to L5 (L2-L5) or C6 (long ascending propriospinal neurons, LAPNs). Results focus on the changes observed during overground locomotion. The dissertation is divided into four chapters. Chapter One is a focused introduction to locomotion, including its broad description, the central mechanisms of its expression, how genetic-based approaches defined these mechanisms, and the limitations in these approaches. It concludes with details of the silencing paradigm used here and a summary of the main findings. Chapter Two describes the functional consequences of silencing L2-L5 interneurons. The focus is on selective disruption of hindlimb coordination during overground locomotion, revealing a continuum from walk to hop. These changes are independent of speed, step frequency, and other spatiotemporal features of gait. Left-right alternation was restored during swimming and stereotypic exploration, suggesting a task-specific role. Silencing L2-L5 interneurons partially uncoupled the hindlimbs, allowing spontaneous shifts in coordination on a step-by-step basis. It is proposed this pathway distributes temporal information for left-right hindlimb alternation, securing effective coordination in a context-dependent manner. Chapter Three focuses on the consequences of silencing LAPNs.Three patterns of interlimb coupling are disrupted: left-right forelimb, left-right hindlimb, and contralateral hindlimb-forelimb coordination. Observed again was a context-dependent continuum from walk-to-hop, irrespective of step frequency, speed, and the salient features that define locomotion. However, instead of spontaneous shifts in coordination as observed from L2-L5 interneuron silencing, the breadth of coupling patterns expressed were maintained on a step-by-step basis. It is proposed that this ascending, inter-enlargement pathway distributes temporal information required for left-right alternation at the shoulder and pelvic girdles in a context-dependent manner. Collectively, these data suggest that L2-L5 interneurons and LAPNs are key pathways that distribute left-right patterning information throughout the neuraxis. The functional role(s) of these pathways are exquisitely gated to the context at hand, suggesting that the locomotor circuitry undergoes functional reorganization thereby endowing or masking the silencing-induced disruptions to interlimb coordination