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GAIT GENERATION AND TRANSITION FOR BIPEDAL LOCOMOTION SYSTEM USING MORRIS-LECAR MODEL OF CENTRAL PATTERN GENERATOR
2017
Scientia Iranica. International Journal of Science and Technology
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Thus, we achieved the rhythmic signals associated with four primary bipedal gaits of walk, run, two-legged jump, and two-legged hop. ...
We exploited an elitist Non-dominated Sorting Genetic Algorithm (NSGA II) to nd the best set of coupling weights by which the phase di erences became optimally close to the ones required for a primary ...
For example, Kim et al. used Particle Swarm Optimization (PSO) to search the CPG parameters in order to generate optimal walk in a biped robot [29] and Oliveira et al. applied an Evolutionary Algorithm ...
doi:10.24200/sci.2017.4404
fatcat:5oagifiuajdj7lhqrn73w5hque
Autonomous Optimization of Swimming Gait in a Fish Robot With Multiple Onboard Sensors
2017
IEEE Transactions on Systems, Man & Cybernetics. Systems
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discover the environment and to evaluate the swimming gait; and 3) an evolutionary algorithm referred to as particle swarm optimization. ...
A key aspect of our approach is the swimming gait of the robot is optimized autonomously, equivalent to that the robot is able to navigate and evaluate its swimming gait in the environment by the onboard ...
ACKNOWLEDGMENT The authors would like to thank Z. Cheng for his contributions in carrying out the experiments and L. Li and C. Wang for their valuable discussions. ...
doi:10.1109/tsmc.2017.2683524
fatcat:i7ylr7cjv5hfvompf75surjwdu
From bio-inspired locomotion models To controllers for lower-limb exoskeletons
2019
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He has brought together a team of wonderful people, creating a friendly atmosphere within the lab members. Working in at the Biorob has been truly enriching. ...
I would like to thank the members of my thesis jury Prof. Aminian Kamiar, Prof. Monica Daley, Prof. Hartmut Geyer and Prof. Sivestro Micera for offering their time to read and evaluate my work. ...
These preliminary but auspicious results have important implications towards the exploitation of natural walking dynamics through understanding human biological behavior in the design of controllers for ...
doi:10.5075/epfl-thesis-9344
fatcat:fppe3a7p4fdkjl7rlvio27zmne