193 citations · 279 across the 14 of their papers we have counts for
16 papers
Passive knee flexion increases forward impulse of the trailing leg during the step-to-step transition
Bernadett Kiss, Alexandra Buchmann, Daniel Renjewski +1
Human walking efficiency relies on the elastic recoil of the Achilles tendon, facilitated by a "catapult mechanism" that stores energy during stance and releases it during push-off…
Upside down: affordable high-performance motion platform
Nayan Man Singh Pradhan, Patrick Frank, An Mo +1
Parallel robots are capable of high-speed manipulation and have become essential tools in the industry. The proximal placement of their motors and the low weight of their end effec…
An Open-Source Modular Treadmill for Dynamic Force Measurement with Load Dependant Range Adjustment
Alborz Aghamaleki Sarvestani, Felix Ruppert, Alexander Badri-Spröwitz
Ground reaction force sensing is one of the key components of gait analysis in legged locomotion research. To measure continuous force data during locomotion, we present a novel co…
'Virtual pivot point' in human walking: always experimentally observed but simulations suggest it may not be necessary for stability
L. Schreff, D. F. B. Haeufle, A. Badri-Spröwitz +2
The intersection of ground reaction forces near a point above the center of mass has been observed in computer simulation models and human walking experiments. Observed so ubiquito…
Slack-based tunable damping leads to a trade-off between robustness and efficiency in legged locomotion
An Mo, Fabio Izzi, Emre Cemal Gönen +2
Animals run robustly in diverse terrain. This locomotion robustness is puzzling because axon conduction velocity is limited to a few ten meters per second. If reflex loops deliver…
Multi-segmented Adaptive Feet for Versatile Legged Locomotion in Natural Terrain
Abhishek Chatterjee, An Mo, Bernadett Kiss +2
Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animal…
Diaphragm Ankle Actuation for Efficient Series Elastic Legged Robot Hopping
Marco Bolignari, An Mo, Marco Fontana +1
Robots need lightweight legs for agile locomotion, and intrinsic series elastic compliance has proven to be a major ingredient for energy-efficient locomotion and robust locomotion…
Hybrid leg compliance enables robots to operate with sensorimotor delays and low control update frequencies
Milad Shafiee Ashtiani, Alborz Aghamaleki Sarvestani, Alexander Badri-Spröwitz
Animals locomote robustly and agile, albeit significant sensorimotor delays of their nervous system. The sensorimotor control of legged robots is implemented with much higher frequ…
A Control Method to Compensate Ground Level Changes for Running Bipedal Robots
Özge Drama, Alexander Badri-Spröwitz
Bipedal running is a difficult task to realize in robots, since the trunk is underactuated and control is limited by intermittent ground contacts. Stabilizing the trunk becomes eve…
Effective Viscous Damping Enables Morphological Computation in Legged Locomotion
An Mo, Fabio Izzi, Daniel F. B. Haeufle +1
Muscle models and animal observations suggest that physical damping is beneficial for stabilization. Still, only a few implementations of mechanical damping exist in compliant robo…
FootTile: a Rugged Foot Sensor for Force and Center of Pressure Sensing in Soft Terrain
Felix Ruppert, Alexander Badri-Spröwitz
In this paper we present FootTile, a foot sensor for reaction force and center of pressure sensing in challenging terrain. We compare our sensor design to standard biomechanical de…
Postural Stability in Human Running with Step-down Perturbations: An Experimental and Numerical Study
Özge Drama, Johanna Vielemeyer, Alexander Badri-Spröwitz +1
Postural stability is one of the most crucial elements in bipedal locomotion. Bipeds are dynamically unstable and need to maintain their trunk upright against the rotations induced…
A Learnable Safety Measure
Steve Heim, Alexander von Rohr, Sebastian Trimpe +1
Failures are challenging for learning to control physical systems since they risk damage, time-consuming resets, and often provide little gradient information. Adding safety constr…
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
Felix Grimminger, Avadesh Meduri, Majid Khadiv +10
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor…
Trunk Pitch Oscillations for Joint Load Redistribution in Humans and Humanoid Robots
Özge Drama, Alexander Badri-Spröwitz
Creating natural-looking running gaits for humanoid robots is a complex task due to the underactuated degree of freedom in the trunk, which makes the motion planning and control di…
Trunk Pitch Oscillations for Energy Trade-offs in Bipedal Running Birds and Robots
Özge Drama, Alexander Badri-Spröwitz
Bipedal animals have diverse morphologies and advanced locomotion abilities. Terrestrial birds, in particular, display agile, efficient, and robust running motion, in which they ex…