Objectives: The dominant leg has always received special attention in public health practices and even in professional clinical evaluation and interventions. The aim of this research study was to methodically examine the substrate balance character of the non-dominant leg under dual task conditions and visual deprivation to increase the baseline insight for maintaining body balance and for fall...

Probability distributions are key components of many learning from demonstration (LfD) approaches, with the spaces chosen to represent tasks playing a central role. Although robot configuration is defined by its joint angles, end-effector poses often best explained within several task spaces. In relevant learned independently and only combined at control level. This simplification implies probl...

The task of performing locomotion and manipulation simultaneously poses several scientific challenges, such as how to deal with the coupling effects between them cope unknown disturbances introduced by manipulation. This paper presents an inverse dynamics-based whole-body controller for a torque-controlled quadrupedal manipulator capable while executing tasks. Unlike existing methods that separ...

Planning and trajectory optimization can readily be used for kinematic control of robotic manipulation. However, planning dynamic motor skills requires a detailed physical simulation, and some aspects of the task, such as contacts, are very difficult to simulate with enough accuracy for dynamic manipulation. Alternatively, manipulation skills can be learned from experience, allowing them to def...

Minimalism pursues the following agenda: For a given robotics task, nd the minimal con guration of resources required to solve the task. Thus, minimalism attempts to reduce the resource signature for a task, in the same way that (say) Stealth technology decreases the radar signature of an aircraft. Minimalism is interesting because doing task A without resource B proves that B is somehow inesse...

Among the many task characteristics that influence search behaviors and outcomes, task complexity has received considerable attention. One view of task complexity is through the lens of a priori determinability—a measure of how much the searcher knows about the task outcomes, information requirements, and processes involved. In this paper, we explore a novel manipulation of a priori determinabi...