Remi Hackert

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Only a few studies on quadrupedal locomotion have investigated symmetrical and asymmetrical gaits in the same framework because the mechanisms underlying these two types of gait seem to be different and it took a long time to identify a common set of parameters for their simultaneous study. Moreover, despite the clear importance of the spatial dimension in(More)
Mammalian locomotion is characterized by the use of asymmetrical gaits associated with extensive flexions and extensions of the body axis. Although the impact of sagittal spine movements on locomotion is well known, little information is available on the kinematics of spinal motion. Intervertebral joint movements were studied in two metatherian and three(More)
A framework to study interlimb coordination, which allowed the analysis of all the symmetrical and asymmetrical gaits, was recently proposed. It suggests that gait depends on a common basic pattern controlling the coordination of the forelimbs (fore lag, FL), the coordination of the hindlimbs (hind lag, HL) and the relationship between these two pairs of(More)
In three species of small therian mammals (Scandentia: Tupaia glis, Rodentia: Galea musteloides and Lagomorpha: Ochotona rufescens) the net joint forces and torques acting during stance phase in the four kinematically relevant joints of the forelimbs (scapular pivot, shoulder joint, elbow joint, wrist joint) and the hindlimbs (hip joint, knee joint, ankle(More)
Due to technological improvements made during the last decade, bipedal robots today present a surprisingly high level of humanoid skill. Autonomy, with respect to the processing of information, is realized to a relatively high degree. What is mainly lacking in robotics, moving from purely anthropomorphic robots to 'anthropofunctional' machines, is energetic(More)
OBJECTIVES The study aims at a precise characterisation of intramuscularly varying recruitment patterns within the triceps brachii muscle (long and lateral head; proximal, medial, distal regions) in the time course of averaged step cycles during locomotion. METHODS The triceps brachii muscle of 15 Hannover rats was investigated with a supramuscular(More)
Many studies of interest in motor behaviour and motor impairment in mice use equally treadmill or track as a routine test. However, the literature in mammals shows a wide difference of results between the kinematics of treadmill and overground locomotion. To study these discrepancies, we analyzed the locomotion of adult SWISS-OF1 mice over a large range of(More)
Most birds use at least two modes of locomotion: flying and walking (terrestrial locomotion). Whereas the wings and tail are used for flying, the legs are mainly used for walking. The role of other body segments remains, however, poorly understood. In this study, we examine the kinematics of the head, the trunk, and the legs during terrestrial locomotion in(More)
We present the design of a bird-like kinematics model for a biped robot as an alternative to the human model. The starting point of the research consists of analyzing the walking motion of quail birds using biological data obtained by X-ray radiography. The 3-D-motion analysis allows identification of the number of degrees of freedom (DOF) and the rotation(More)
In this paper we shall present the progress of the ROBOCOQ project. This project aims to design a prototype of autonomous biped based on the avian model, capable of exploring cluttered environments. This design relies on experimental kinematics data obtained from the quail. The experimental protocol used to reconstruct a 3D model is presented in this paper(More)