Bipedal Locomotion among Existing Reptiles

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 ...

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...

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 ...

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...