background: despite some successful dynamic simulation of self-impact double pendulum (sidp)-as humanoid robots legs or arms- studies, there is limited information available about the control of one leg locomotion. objective   : the main goal of this research is to improve the reliability of the mammalians leg locomotion and building more elaborated models close to the natural movements, by mod...

Behavior is typically defined as the activity of an organism, machine, or natural phenomenon, particularly in response to external stimuli. This definition is broad, and applies to robots and animals alike. A categorical difference between animals and robots is that the latter are typically designed by human beings to perform a set of highly constrained objectives, while animal behavior is typi...

This paper describes the design of the elastic body of a new torque sensor to measure torsion moment faithfully in the presence of strong overhang and thrust forces as well as bending moments. This feature, in conjunction with high stiiness makes this sensor an ideal choice for robotic applications. The structure inherently exhibits minimum strain sensitivities and compliances to all non-torsio...

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This paper proposes an efficient and online learning control system that uses the successful Model Predictive Control (MPC) method in a model based locally weighted learning framework. The new approach named Locally Weighted Learning Model Predictive Control (LWL-MPC) has been proposed as a solution to learn to control complex and nonlinear Elastic Joint Robots (EJR). Elastic Joint Robots are g...

Collaboration is essential for effective performance by groups of robots in disaster response settings. Here we are particularly interested in heterogeneous robots that collaborate in complex scenarios with incomplete, dynamically changing information. In detail, we consider a search and rescue setting, where robots with different capabilities work together to accomplish tasks (rescue) and find...