One approach in the field of legged locomotion is to use theoretical models and analysis to provide basic knowledge [1]. One particular group of these models with rotary hip torque and radial leg damping has demonstrated a greater degree of robust stability and biological relevance. The previously developed Clock Torqued Spring-Loaded Inverted Pendulum [3] and Torque-Actuated Dissipative Spring...

This article introduces a new approach to locomotion control in six-legged robots. The approach is inspired by the model of decentralized locomotion control in the stick insect introduced by one of the authors and makes use of second-order nonlinear systems to realize the neuron-like dynamics of the sub-units of the whole control system. Each of these sub-units controls the behavior of a leg an...

Cerebellar ataxic gait is influenced greatly by balance disorders, most likely caused by lesions of the medial zone of the cerebellum. The contributions of the intermediate and lateral zone to the control of limb dynamics for gait and the adaptation of locomotor patterns are less well understood. In this study, we analysed locomotion and goal-directed leg movements in 12 patients with chronic f...

This special issue focuses on the following topic areas: i Biomimetics and locomotion, ii mobile vehicles, iii human-robot systems and haptic interfaces, and iv novel systems modeling and analysis. We believe that this special issue provides a compilation of the most recent developments in the field of robotics and will be an important source of information for current and future researchers. B...

Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP) model has shown to be a good model for this purpose. However, the human musculoskeletal system enables us to actively modulate leg stiffness, for example wh...

During locomotion, leg movements define the direction of walking (forward or backward) and path one is taking (straight curved). These aspects locomotion produce characteristic visual motion patterns during movement. Here, we tested whether cortical regions responding to either egomotion-compatible motion, movements, both, are sensitive these locomotion-relevant motion. We compared a curved (ty...

All-terrain robot locomotion is an active topic of research. Search and rescue maneuvers and exploratory missions could benefit from robots with the abilities of real animals. However, technological barriers exist to ultimately achieving the actuation system, which is able to meet the exigent requirements of these robots. This paper describes the locomotion control of a leg prototype, designed ...

We seek to improve balance recovery in amputee gait by taking advantage of the advent of active leg prostheses. Toward this goal, we use inspiration from biology to identify reflex-like control strategies that stabilize gait, refine these strategies in simulations of amputee locomotion, and evaluate the resulting controllers in experiments with human subjects wearing custom prototypes of active...

During locomotion, contacting an obstacle generates a coordinated response involving flexion of the stimulated leg and activation of extensors contralaterally to ensure adequate support and forward progression. Activation of motoneurons innervating contralateral muscles (i.e., crossed extensor reflex) has always been described as an excitation, but the present paper shows that excitatory respon...