\follow" the lead of the three-segment kinematic system. By formulating the motion of the system in terms of a connection, we can clearly highlight the important factors which contribute to the serpentine locomotion. Using sinusoidal inputs which are phase-delayed down the length of the snake robot, we were able to simulate various possible gaits, including a serpentine gait characterized by ne...

Abstract The need for robust control laws is especially important in safety-critical applications. We propose hybrid barrier functions as a means to synthesize that ensure safety. Based on this notion, we formulate an optimization problem learning from data. identify sufficient conditions the data such feasibility of ensures correctness learned functions. Our techniques allow us safely expand r...

Programming a humanoid robot to walk is a challenging problem in robotics. Traditional approaches rely heavily on prior knowledge of the robot's physical parameters to devise sophisticated control algorithms for generating a stable gait. In this paper, we provide, to our knowledge, the first demonstration that a humanoid robot can learn to walk directly by imitating a human gait obtained from m...

The optimal design of human lower limb prostheses, in particular of knee devices, is fundamental in order to restore the lost functionality and aesthetic aspect of the amputee’s locomotion. Among all knee devices, the four-bar linkage is still the most widespread mechanism, since, despite its simplicity, it allows the prosthesis to be sufficiently stable and, at the same time, to replicate the ...

objectives: the aim of this study was to extract suitable spatiotemporal and kinematic parameters to determine how total knee replacement (tkr) alters patients’ knee kinematics during gait, using a rapid and simplified quantitative two-dimensional gait analysis procedure. methods: two-dimensional kinematic gait pattern of 10 participants were collected before and after the tkr surgery, using a ...

Dynamic patient-specific musculoskeletal models have great potential for addressing clinical problems in orthopedics and rehabilitation. However, their predictive capability is limited by how well the underlying kinematic model matches the patient's structure. This study presents a general two-level optimization procedure for tuning any multi-joint kinematic model to a patient's experimental mo...