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Journals and Conferences
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)
Postural stability is a requirement for autonomous adaptive legged locomotion. Neurobiological research lead to the idea that there are independent central systems for posture and locomotion, which interact when required.
In the last 20 years, studies on human identified skeletal collections have revealed a significant relationship between new bone formation on the visceral surface of ribs and pulmonary tuberculosis (TB). To improve methods of differential diagnosis of respiratory diseases in archaeological skeletons, an investigation was conducted on 197 individuals from… (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 un-predictable environments is still a challenge, where the concept of Central Pattern Generators (CPG) has brought interesting ideas.
Trajectory modulation and generation are two fundamental issues in the path planning problem in autonomous robotics, specially considering temporal stabilization of the generated movements. This is a very critical issue in several robotic tasks including: catching, hitting, and human-robot scenarios.