We propose a robust dynamic walking controller consisting of a dynamic locomotion planner, a reinforcement learning process for robustness, and a novel whole-body locomotion controller (WBLC). Previous approaches specify either the position or the timing of steps, however, the proposed locomotion planner simultaneously computes both of these parameters as locomotion outputs. Our locomotion stra...

Legged robots have gained an increased attention these past decades since they offer a promising technology for many applications in unstructured environments where the use of wheeled robots is clearly limited. Such applications include exploration and rescue tasks where human intervention is difficult (e.g. after a natural disaster) or impossible (e.g. on radioactive sites) and the emerging do...

There is so far no quadruped robot that exhibits locomotion performance matching to that shown by animals every day. Both differences in general design concepts, in available materials and actuation mechanisms as well as a lack of understanding on the control of the robots’ actuators contribute to the current performance gap between robotic platforms and their biological counterparts. While for...

objective: parkia biglobossa stem bark decoction is a popular medicinal plant preparation used as calming agent for tensed patients in traditional medicine. the aim of this study was to evaluate the effects of aqueous stem bark extract of parkia biglobossa (aepb) and its active fraction aepbf3 on anxiety, spontaneous alternation behavior, and locomotor activity. the open field apparatus was use...

Snake robots composed of alternating single-axis pitch and yaw joints have many internal degrees freedom, which make them capable versatile three-dimensional locomotion. In motion planning process, snake robot motions are often designed kinematically by a chronological sequence continuous backbone curves that capture desired macroscopic shapes the robot. However, as geometric arrangement rotary...

Natural locomotion of virtual characters is very important in games and simulations. The naturalness of the total motion strongly depends on both the path the character chooses and the animation of the walking character. Therefore, much work has been done on path planning and generating walking animations. However, the combination of both fields has received less attention. Combining path plann...

In autonomous robotics, the head shaking induced by locomotion is a relevant and still not solved problem. This problem constraints stable image acquisition and the possibility to rely on that information to act accordingly. In this article, we propose a movement controller to generate locomotion and head movement. Our aim is to generate the head movement required to minimize the head motion in...

This chapter is organized according to a number of broad classes of problem where modular robotic systems can prove beneficial. For each such problem, the benefits of modularity are described, along with the ways that particular systems or proposed systems have explored those benefits. In particular, we discuss locomotion in Sect. 39.1, manipulation in Sect. 39.2, modular robot geometry in Sect...

Worm-like locomotion at small scales induced by propagating a series of extensive or contraction waves has exhibited enormous possibilities in reproducing artificial mobile soft robotics. However, the optimal relation between locomotion performance and some important parameters, such as the distance between two adjacent waves, wave width, and body length, is still not clear. To solve this probl...

The humanoid bipedal locomotion requires computationally efficient solutions of the navigation and inverse kinematics problems. This paper presents analytic methods, using tools from computational geometry and techniques from the theory of Lie groups, to develop new geometric algorithms for the navigation path planning, locomotion movement, and kinematics modeling of humanoid robots. To solve t...