Bipedal Locomotion in Crawling Cells

Bipedal locomotion in crawling cells.

Many complex cellular processes from mitosis to cell motility depend on the ability of the cytoskeleton to generate force. Force-generating systems that act on elastic cytoskeletal elements are prone to oscillating instabilities. In this work, we have measured spontaneous shape and movement oscillations in motile fish epithelial keratocytes. In persistently polarized, fan-shaped cells, retracti...

Crawling cell locomotion revisited.

C ell crawling is of primary importance for such fundamental biological processes as embryonic development, wound healing, inflammation, and cancer metastasis (1). Motion of cells along extracellular substrates or matrices requires an apparently very simple condition: a fairly small force has to be applied to the cell to move it against the friction between the cell surface and the surrounding ...

Towards Muscle Driven Bipedal Locomotion

Multi-contact bipedal robotic locomotion

This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology experimentally on two robotic platforms: AMBER2 and ATRIAS. Inspired by the key feature encoded in human walking— multi-contact behavior—this approach begins with the analysis of human locomotion and uses it to motivate the construction of a hybrid system model representing ...

Learning Bipedal Locomotion by Demonstration

Motivation: A locomotion control system could be used in active orthotics; orthotic braces with actuators attached to augment the muscles of a patient. This would allow patients with a variety of neuro-muscular ailments to walk in an easier, more natural way than is currently possible with passive orthotics. A similar technology could be used for prosthetics to assist patients with amputations ...