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2009


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Modelling the interplay of central pattern generation and sensory feedback in the neuromuscular control of running

Daley, M., Righetti, L., Ijspeert, A.

In Comparative Biochemistry and Physiology - Part A: Molecular & Integrative Physiology. Annual Main Meeting for the Society for Experimental Biology, 153, Glasgow, Scotland, 2009 (inproceedings)

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2009


link (url) DOI [BibTex]

2007


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Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Degallier, S., Righetti, L., Ijspeert, A.

In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 2047-2052, IEEE, San Diego, USA, 2007 (inproceedings)

Abstract
Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to sensory-motor feedbacks, in particular to properly place feet on specific locations, are thus needed. Dynamical systems are well suited for this task as any online modification of the parameters leads to a smooth adaptation of the trajectories, allowing a safe integration of sensory-motor feedback. In this contribution, as a first step in the direction of locomotion on irregular surfaces, we present a controller that allows hand placement during crawling in a simulated humanoid robot. The goal of the controller is to superimpose rhythmic movements for crawling with discrete (i.e. short-term) modulations of the hand placements to reach specific marks on the ground.

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link (url) DOI [BibTex]

2007


link (url) DOI [BibTex]


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Lower body realization of the baby humanoid - ‘iCub’

Tsagarakis, N., Becchi, F., Righetti, L., Ijspeert, A., Caldwell, D.

In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 3616-3622, IEEE, San Diego, USA, 2007 (inproceedings)

Abstract
Nowadays, the understanding of the human cognition and it application to robotic systems forms a great challenge of research. The iCub is a robotic platform that was developed within the RobotCub European project to provide the cognition research community with an open baby- humanoid platform for understanding and development of cognitive systems. In this paper we present the design requirements and mechanical realization of the lower body developed for the "iCub". In particular the leg and the waist mechanisms adopted for lower body to match the size and physical abilities of a 2 frac12 year old human baby are introduced.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]