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—Research on humanoid locomotion made significant improvements over the last years. In most cases, though, the gait of state-of-the-art robots is still far from being human-like due to two main reasons. These are, the mechanical incompatibilities between the human and the engineered humanoid platforms, and the lack of clear understanding of the highly(More)
Research in humanoid robotics aims to develop autonomous systems that are able to assist humans in the performance of everyday tasks. Part of the robotics community claims that the best solution to guarantee the maximum adaptability of robots to the majority of human tasks is mimicry. Based on this premise both the structure of the human body and human(More)
Human neuromotor capabilities guarantee a wide variety of motions. A full understanding of human motion can be beneficial for rehabilitation or performance enhancement purposes, or for its reproduction on artificial systems like robots. This work aims at describing the complexity of human motion in a reduced dimensionality, by means of kinematic Motion(More)
This manuscript proposes a method to directly transfer the features of horse walking, trotting, and galloping to a quadruped robot, with the aim of creating a much more natural (horse-like) locomotion profile. A principal component analysis on horse joint trajectories shows that walk, trot, and gallop can be described by a set of four kinematic Motion(More)
—Research in humanoid robotics in recent years has led to significant advances in terms of the ability to walk and even run. Yet, despite the general achievements in locomotion and control, energy efficiency is still one important area that requires further attention, especially as it is one of the major steeping stones leading to increased autonomy. This(More)
We previously demonstrated that nELAV/GAP-43 pathway is pivotal for learning and its hippocampal expression is up-regulated by acute stress following repeated cocaine administration. We therefore hypothesized that abstinence-induced stress may sustain nELAV/GAP-43 pathway during early abstinence following 2 weeks of cocaine self-administration. We found(More)
Although brain-derived neurotrophic factor (BDNF) is part of a homeostatic pathway involved in the development of alcohol dependence, it is not clear whether this is also true after recreational ethanol consumption. We examined BDNF expression and signaling in the cortico-striatal network immediately and 24 h after either a single intravenous (i.v.) ethanol(More)