Editorial: Assessing Bipedal Locomotion: Towards Replicable Benchmarks for Robotic and Robot-Assisted 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 ...

Towards Muscle Driven Bipedal Locomotion

Gait Regulation for Bipedal Locomotion

This work explores regulation of forward speed, step length, and slope walking for the passive-dynamic class of bipedal robots. Previously, an energy-shaping control for regulating forward speed has appeared in the literature; here we show that control to be a special case of a more general time-scaling control that allows for speed transitions in arbitrary time. As prior work has focused on po...

Probabilistic Gradient Ascent with Applications to Bipedal Robotic Locomotion

Bipedal robotic locomotion is an emerging field within the multi-billion dollar robotics industry, with global initiatives (such as RoboCup, FIRA and the DARPA Robotics Challenge) striving toward the development of robots able to complete complex physical tasks within a human-engineered environment. This paper details the redevelopment of an omnidirectional walk engine for the DARwIn-OP, with a...

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...