This paper modifies the single rigid body (SRB) model, and considers swinging leg as disturbances to centroid acceleration rotational of SRB model. proposes deep reinforcement learning (DRL)-based model predictive control (MPC) resist leg. The DRL predicts swing disturbances, then MPC gives optimal ground reaction forces according predicted disturbances. We use proximal policy optimization (PPO...

Biomechanical studies suggest that animals’ abilities to tune their effective leg compliance in response to changing terrain conditions plays an important role in their agile, robust locomotion. However, despite growing interest in leg compliance within the robotics literature, little experimental work has been reported on tunable passive leg compliance in running machines. In this paper we pre...

Spiders are an old yet very successful predatory group of arthropods. Their locomotor system differs from those of most other arthropods by the lack of extensor muscles in two major leg joints. Though specific functional characteristics can be expected regarding the locomotion dynamics of spiders, this aspect of movement physiology has been only scarcely examined so far. This study presents ext...

Obstacle avoidance in bipedal robots is achieved with the help of sensory feedback and closed loop control. Although computational power increased exponentially during the last years it is still the limiting factor for dynamic locomotion in uneven terrain. We introduce a simple robot architecture based on compliant leg behavior. With minimal sensory feedback we can derive stable 2D locomotion. ...

We propose a locomotion technique for a legged robot that is high-centered, i.e., a robot stuck on a block with its legs dangling in air. By using its legs as reaction masses, the robot might be able to rock and roll on its stomach and incrementally move forward off the block, a form of legless locomotion using halteres. With locomotion of high-centered robots using body attitude oscillations a...

This article provides a perspective on major innovations over the past century in research on the spinal cord and, specifically, on specialized spinal circuits involved in the control of rhythmic locomotor pattern generation and modulation. Pioneers such as Charles Sherrington and Thomas Graham Brown have conducted experiments in the early twentieth century that changed our views of the neural ...

UNLABELLED The objective of this study was to evaluate the electromyographic activity of the muscles of the leg and spine associated with different types of shoes and barefoot, in the various plans of locomotion, in the situations before and after fatigue. METHODS Is a cross-sectional study, which was used a sample of convenience with 15 young women, aged between 18 and 35 years, sedentary. T...

Background:Despite some successful dynamic simulation of self-impact double pendulum (SIDP)-as humanoid robots legs or arms- studies, there is limited information available about the control of one leg locomotion.Objective :The main goal of this research is to improve the reliability of the mammalians leg locomotion and building more elaborated models close to the natural movements, by modelin...