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03/31/2023
Upside down: affordable high-performance motion platform
Parallel robots are capable of high-speed manipulation and have become e...
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03/25/2023
An Open-Source Modular Treadmill for Dynamic Force Measurement with Load Dependant Range Adjustment
Ground reaction force sensing is one of the key components of gait analy...
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12/01/2022
Slack-based tunable damping leads to a trade-off between robustness and efficiency in legged locomotion
Animals run robustly in diverse terrain. This locomotion robustness is p...
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09/18/2022
Multi-segmented Adaptive Feet for Versatile Legged Locomotion in Natural Terrain
Most legged robots are built with leg structures from serially mounted l...
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04/29/2022
Power to the springs: Passive elements are sufficient to drive push-off in human walking
For the impulsive ankle push-off (APO) observed in human walking two mus...
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03/03/2022
Diaphragm Ankle Actuation for Efficient Series Elastic Legged Robot Hopping
Robots need lightweight legs for agile locomotion, and intrinsic series ...
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03/03/2022
Investigation on a bipedal robot: Why do humans need both Soleus andGastrocnemius muscles for ankle push-off during walking?
Legged locomotion in humans is influenced by mechanics and neural contro...
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01/28/2021
Hybrid leg compliance enables robots to operate with sensorimotor delays and low control update frequencies
Animals locomote robustly and agile, albeit significant sensorimotor del...
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06/06/2020
A Control Method to Compensate Ground Level Changes for Running Bipedal Robots
Bipedal running is a difficult task to realize in robots, since the trun...
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05/18/2020
FootTile: a Rugged Foot Sensor for Force and Center of Pressure Sensing in Soft Terrain
In this paper we present FootTile, a foot sensor for reaction force and ...
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05/12/2020
Effective Viscous Damping Enables Morphological Computation in Legged Locomotion
Muscle models and animal observations suggest that physical damping is b...
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04/06/2020
Postural Stability in Human Running with Step-down Perturbations: An Experimental and Numerical Study
Postural stability is one of the most crucial elements in bipedal locomo...
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10/07/2019
A Learnable Safety Measure
Failures are challenging for learning to control physical systems since ...
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09/30/2019
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
We present a new open-source torque-controlled legged robot system, with...
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09/20/2019
Trunk Pitch Oscillations to Improve Energetics in Bipedal Running Birds and Robots
Bipedal animals have diverse morphologies and advanced locomotion abilit...
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09/09/2019