47 citations · 147 across the 15 of their papers we have counts for
8 papers · 1 filter
Robustness: a new SLIP model based criterion for gait transitions in bipedal locomotion
Harold Roberto Martinez Salazar, Juan Pablo Carbajal, Yuri P. Ivanenko
Bipedal locomotion is a phenomenon that still eludes a fundamental and concise mathematical understanding. Conceptual models that capture some relevant aspects of the process exist…
Bio-inspired friction switches: adaptive pulley systems
Konstantinos Dermitzakis, Juan Pablo Carbajal
Frictional influences in tendon-driven robotic systems are generally unwanted, with efforts towards minimizing them where possible. In the human hand however, the tendon-pulley sys…
Synthesis and Adaptation of Effective Motor Synergies for the Solution of Reaching Tasks
Cristiano Alessandro, Juan Pablo Carbajal, Andrea d'Avella
Taking inspiration from the hypothesis of muscle synergies, we propose a method to generate open loop controllers for an agent solving point-to-point reaching tasks. The controller…
Magneto-mechanical actuation model for fin-based locomotion
Juan Pablo Carbajal, Naveen Kuppuswamy
In this paper, we report the results from the analysis of a numerical model used for the design of a magnetic linear actuator with applications to fin-based locomotion. Most of the…
SNF Project Locomotion: Progress report 2008-2009
Matej Hoffmann, Juan Pablo Carbajal, Marc Ziegler
Summary of results (project period 1. 10. 2008 - 30. 9. 2009) of SNFS Project "From locomotion to cognition" The research that we have been involved in, and will continue to do, st…
SNF Project Locomotion: Final report 2009-2010
Matej Hoffmann, Juan Pablo Carbajal, Marc Ziegler
Summary of results in last project period (1. 10. 2009 - 30. 9. 2010) of SNFS Project "From locomotion to cognition" The research that we have been involved in, and will continue t…
Exploiting the Passive Dynamics of a Compliant Leg to Develop Gait Transitions
Harold Roberto Martinez Salazar, Juan Pablo Carbajal
In the area of bipedal locomotion, the spring loaded inverted pendulum (SLIP) model has been proposed as a unified framework to explain the dynamics of a wide variety of gaits. In…
Modeling and frequency domain analysis of nonlinear compliant joints for a passive dynamic swimmer
Juan Pablo Carbajal, Rafael Bayma, Marc Ziegler +1
In this paper we present the study of the mathematical model of a real life joint used in an underwater robotic fish. Fluid-structure interaction is utterly simplified and the moti…