Vítor Matos

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In this article, we propose a bio-inspired architecture for a quadruped robot that is able to initiate/stop locomotion; generate different gaits, and to easily select and switch between the different gaits according to the speed and/or the behavioral context. This improves the robot stability and smoothness while locomoting. We apply nonlinear oscillators(More)
— The ability to traverse a wide variety of terrains while walking is basically a requirement for performing useful tasks in our human centric world. In this article, we propose a bio-inspired robotic controller able to generate locomotion and to easily switch between different type of gaits. In order to improve the robot stability and response while(More)
— Quadruped locomotion on rough terrain and unpredictable environments is still a challenge, where the concept of Central Pattern Generators (CPG) has brought interesting ideas. In this contribution we present a CPG design based on coupled oscillators, generating the required stepping movements of a limb for omnidirectional motion. Movements are on-line(More)
— This paper presents a gait multi-objective optimization system that combines bio-inspired Central Patterns Generators (CPGs) and a multi-objective evolutionary algorithm. CPGs are modeled as autonomous differential equations, that generate the necessary limb movement to perform the required walking gait. In order to optimize the walking gait, four(More)
BACKGROUND Multi-vessel disease is frequent in patients presenting with myocardial infarction and have an important prognostic impact. The decision to proceed to revascularization in non-culprit vessels can be postponed until ischemia is proven in non-invasive stress tests. On the other hand, there is an increasing evidence to support the role of fractional(More)