Robotic Locomotion and Control

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.

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.

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.

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.

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.

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.

Context-dependent coordination of movement in Tribolium castaneum larvae

This study analyzes the locomotion of Tribolium castaneum larvae, revealing a context-dependent gait and the role of pygopods in movement across different substrates.

Balancing central control and sensory feedback produces adaptable and robust locomotor patterns in a spiking, neuromechanical model of the salamander spinal cord

This paper develops a spiking neuromechanical model of the salamander spinal cord to show that intermediate proprioceptive feedback improves locomotion coordination and robustness.

I2Bot: an open-source tool for multi-modal and embodied simulation of insect navigation

I2Bot simulates insect navigation by integrating morphology, sensory capabilities, and environment, revealing navigation principles for robotics.

Damage explains function in spiking neural networks representing central pattern generator

The paper develops a spiking neural network model of the central pattern generator to study distributed computations and shows that lesioning different neural elements affects CPG function differently.

Operation regimes of spinal circuits controlling locomotion and role of supraspinal drives and sensory feedback

This study develops a computational model of spinal locomotor circuits in cats to show that the spinal network operates in different regimes depending on locomotor speed and supraspinal input.

Sensory Feedback and Central Neuronal Interactions in Mouse Locomotion

This study develops a mathematical model of mouse locomotion to investigate the roles of sensory feedback and central interactions in gait control.

Sensorimotor delays constrain robust locomotion in a 3D kinematic model of fly walking

This study uses a 3D kinematic model of fly walking to show that sensorimotor delays limit robust locomotion, with performance degrading when delays exceed physiological ranges.

Investigating the roles of reflexes and central pattern generators in the control and modulation of human locomotion using a physiologically plausible neuromechanical model

This paper presents a physiologically plausible neuromechanical model to study spinal control of human locomotion, showing that CPGs are necessary for rhythmic movement and that reflexes primarily provide inhibitory feedback.

A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties

The paper develops a hierarchical model to control insect movement via electrical stimulation, showing that stimulus-torque relationships are linear but vary between individuals.

The BCM rule allows a spinal cord model to learn rhythmic movements

The paper demonstrates that a spinal cord model can learn rhythmic movements using the BCM learning rule, without requiring rhythm generating neurons or genetically defined connectivity.

neuroWalknet, a controller for hexapod walking allowing for context dependent behavior

The paper introduces neuroWalknet, a decentralized controller for hexapod walking that exhibits context-dependent behaviors and explains biological reflexes through emergent properties.

High-level motor planning allows flexible walking at different gait patterns in a neuromechanical model

The paper presents a neuromechanical model that demonstrates flexible walking at different gait patterns by using high-level motor planning and fixed low-level reflex loops.

A Neuromuscular Model of Human Locomotion Combines Spinal Reflex Circuits with Voluntary Movements

This paper presents a neuromuscular model of human locomotion that integrates spinal reflex circuits with voluntary movements to generate stable, rhythmic walking patterns with real-time adaptability.

NeuroMechFly, a neuromechanical model of adult Drosophila melanogaster

NeuroMechFly is a neuromechanical model of Drosophila melanogaster that simulates biomechanics and neural control to predict behaviors and optimize locomotion.