Robotic Locomotion and Control

Data-driven frame-by-frame analysis of surface swimming and terrestrial walking in the coastal beetle Phaleria atriceps

This study compares inter-leg coordination during terrestrial walking and surface swimming in Phaleria atriceps, finding similar six-leg phase patterns but differences in movement periods and phase relationships.

Dynamics of Take-off in Bipedal Animals and Robots

This paper develops a biomechanical framework to analyze take-off dynamics in bipedal animals and robots, showing that take-off times are consistent across body masses and that Tyrannosaurus rex could jump.

Redundant contacts and force redistribution stabilize limbless vertical climbing

This study shows how cornsnakes use redundant contacts and force redistribution to climb vertical surfaces, revealing biomechanical principles for agile robotics.

Inertial coupling between swing and stance legs shapes ankle torque profile during running

This paper extends the SLIP model to account for swing-leg inertia, explaining the ankle torque profile during running.

Walking in circles: Linking high- and low-level parameter scaling of visually guided and spontaneous turning behaviour

This study examines how turning behavior in walking stick insects scales with turn magnitude, showing that visually guided turns differ in velocity and step patterns compared to spontaneous turns.

Self-organized Recovery of Coordinated Locomotion in Crickets via Prosthetic Limb Integration

This study shows that prosthetic legs can restore coordinated walking in crickets by re-engaging distributed sensorimotor networks, revealing the role of load-mediated sensory signals in locomotion control.

Unified comparison of spinal locomotion control architectures in neuromechanical simulations

This paper compares four spinal locomotion control architectures in neuromechanical simulations, finding that reflex-based and CPG-reflex-synergy-based controllers best reproduce human-like gait and show the greatest versatility across speed-slope conditions.

Posture and support geometry, rather than body size, dictate lateral dynamic stability in walking mammalian quadrupeds

The paper compares lateral dynamic stability in mice and cats, finding that smaller mammals are more stable due to crouched posture and wider steps, not body size.

Speed-Dependent Turning Strategies in Quadrupedal Locomotion: Insights from Computational Modeling

This study investigates speed-dependent turning strategies in quadrupedal locomotion using computational modeling, finding that different strategies excel at different speeds and that forelimbs primarily steer while hindlimbs adjust propulsion.

Biologically-constrained insect models enable realistic simulations and improve biomechanical predictions of locomotion

The paper develops biologically-constrained 3D models of insect locomotion, improving simulation realism and biomechanical predictions by integrating anatomical and passive biomechanical constraints.

Removing head ganglia in amphibious centipedes unveils descending contribution to versatile locomotor repertoire

The paper investigates how higher neural centers influence locomotion in amphibious centipedes through neural lesions and modeling, showing their role in modulating movement patterns.

Stochastic optimal control simulations of walking: potential and perspective

This paper uses stochastic optimal control simulations to study how sensorimotor noise affects walking variability and control strategies, finding that effort minimization shapes gait patterns.

Mechanical Work Performance Constraints and Timing Govern Human Walking: A Modified Inverted Pendulum Model for Single Support

The paper develops a modified inverted pendulum model to show that human walking speed and step length are constrained by mechanical feasibility and work capacity, not just energy efficiency.

Simultaneous stabilizing feedback control of linear and angular momentum in human walking

This study shows that linear and angular momentum are simultaneously controlled in human walking, explaining correlations between ground reaction forces and center of mass/pressure positions.

Postural control in an upright snake

The paper quantifies upright posturing in snakes and presents a theoretical framework for postural stability using muscle force models and control strategies.

Multiple locomotion gaits in the mole cricket

This study quantitatively characterizes the locomotion gaits of mole crickets, identifying a previously unreported backward-bound gait and using biomechanical modeling and deep reinforcement learning to test form-function relationships.

Integrating Virtual Pivot Point and Trunk Dynamics to Understand Human Walking on Slopes: Insights from Experiments and Modeling

This study investigates how the Virtual Pivot Point (VPP) strategy and trunk dynamics adapt during slope walking through experiments and simulations, showing their role in stability and energy management.

Springtail-inspired compliant hinge enables terrain-adaptable takeoff in insect-scale robots

This paper describes a robot inspired by springtails' jumping mechanism, using a compliant hinge to enable terrain-adaptable takeoff without onboard sensing.

Controlling a simple model of bipedal walking to adapt to a wide range of target step lengths and step frequencies

This paper develops a control model for bipedal walking that adapts to varying step lengths and frequencies using feedback control and additional actuation, achieving human-like response times.

A simple network of proprioceptive reflexes can produce a variety of bipedal gaits

This paper demonstrates that a simple reflex-based control system can generate diverse bipedal gaits without rhythmic inputs or high-level state machines.

Gait transition mechanism from quadrupedal to bipedal locomotion in the Japanese macaque based on inverted pendulum

This study investigates the gait transition mechanism from quadrupedal to bipedal locomotion in Japanese macaques, finding that inverted pendulum dynamics are critical for successful transitions.

Control of limb loading during active horizontal perturbations at moderate and fast trots in rats

This study examines how rats adjust limb loading during horizontal perturbations at different trot speeds, revealing differences in feedforward strategies and limb-specific responses.

Mechanisms of adaptive interlimb coordination to sudden ground loss: a neuromusculoskeletal modeling study

This study uses a neuromusculoskeletal model to show how afferent feedback enables adaptive interlimb coordination in cats after sudden ground loss, without re-optimizing parameters.

Gait analysis of Pak Biawak: a necrobot lizard built using the skeleton of an Asian water monitor (Varanus salvator )

This paper demonstrates that a necrobot made from a deceased varanid's skeleton can mimic the sprawling gait of a live varanid across multiple kinematic metrics.

Foot placement control underlies stable locomotion across species

The paper investigates foot placement control across species, finding shared behavioral signatures and varying control mechanisms based on neuromechanical embodiment.

Leg compliance is required to explain the ground reaction force patterns and speed ranges in different gaits

This paper shows that compliant legs are essential for explaining gait patterns and speed ranges in locomotion, challenging the use of stiff legs for walking models.

Optimum Push-off During Uneven Walking for Just-in-Time Strategy; Delayed Push-off Exertion is Mechanically Costly

The paper shows that pre-emptive push-off optimizes walking economy, while delayed push-off during uneven walking incurs mechanical costs.

Katydids Shift to Higher-Stability Gaits When Climbing Inclined Substrates

This study shows that katydids adjust their walking speed and gait based on incline angle and body mass, but not substrate roughness.

Unsupervised learning reveals rapid gait adaption after leg loss and regrowth in spiders

Gait-space clustering shows juvenile tarantulas losing two same-tetrapod legs immediately adopt variable tripod-like gaits, regaining pre-autotomy speed within a day without evidence of learning.

Six-legged-bound: a newly-described insect gait

The paper describes a new insect gait called backward-bound in mole crickets, which is used to escape danger and is characterized by specific leg coordination patterns.