504 research outputs found
Effects of Initial Stance of Quadruped Trotting on Walking Stability
It is very important for quadruped walking machine to keep its stability in
high speed walking. It has been indicated that moment around the supporting
diagonal line of quadruped in trotting gait largely influences walking
stability. In this paper, moment around the supporting diagonal line of
quadruped in trotting gait is modeled and its effects on body attitude are
analyzed. The degree of influence varies with different initial stances of
quadruped and we get the optimal initial stance of quadruped in trotting gait
with maximal walking stability. Simulation results are presented. Keywords:
quadruped, trotting, attitude, walking stability
In silico case studies of compliant robots: AMARSI deliverable 3.3
In the deliverable 3.2 we presented how the morphological computing ap-
proach can significantly facilitate the control strategy in several scenarios,
e.g. quadruped locomotion, bipedal locomotion and reaching. In particular,
the Kitty experimental platform is an example of the use of morphological
computation to allow quadruped locomotion. In this deliverable we continue
with the simulation studies on the application of the different morphological
computation strategies to control a robotic system
Neuro-mechanical entrainment in a bipedal robotic walking platform
In this study, we investigated the use of van der Pol oscillators in a 4-dof embodied bipedal robotic platform for the purposes of planar walking. The oscillator controlled the hip and knee joints of the robot and was capable of generating waveforms with the correct frequency and phase so as to entrain with the mechanical system. Lowering its oscillation frequency resulted in an increase to the walking pace, indicating exploitation of the global natural dynamics. This is verified by its operation in absence of entrainment, where faster limb motion results in a slower overall walking pace
Neuro-mechanical entrainment in a bipedal robotic walking platform
In this study, we investigated the use of van der Pol oscillators in a 4-dof embodied bipedal robotic platform for the purposes of planar walking. The oscillator controlled the hip and knee joints of the robot and was capable of generating waveforms with the correct frequency and phase so as to entrain with the mechanical system. Lowering its oscillation frequency resulted in an increase to the walking pace, indicating exploitation of the global natural dynamics. This is verified by its operation in absence of entrainment, where faster limb motion results in a slower overall walking pace
The implications of embodiment for behavior and cognition: animal and robotic case studies
In this paper, we will argue that if we want to understand the function of
the brain (or the control in the case of robots), we must understand how the
brain is embedded into the physical system, and how the organism interacts with
the real world. While embodiment has often been used in its trivial meaning,
i.e. 'intelligence requires a body', the concept has deeper and more important
implications, concerned with the relation between physical and information
(neural, control) processes. A number of case studies are presented to
illustrate the concept. These involve animals and robots and are concentrated
around locomotion, grasping, and visual perception. A theoretical scheme that
can be used to embed the diverse case studies will be presented. Finally, we
will establish a link between the low-level sensory-motor processes and
cognition. We will present an embodied view on categorization, and propose the
concepts of 'body schema' and 'forward models' as a natural extension of the
embodied approach toward first representations.Comment: Book chapter in W. Tschacher & C. Bergomi, ed., 'The Implications of
Embodiment: Cognition and Communication', Exeter: Imprint Academic, pp. 31-5
Adaptive modular architectures for rich motor skills: technical report on the cognitive architecture
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