Fusing autonomy and sociality via embodied emergence and development of behaviour and cognition from fetal period

Y Kuniyoshi - … Transactions of the Royal Society B, 2019 - royalsocietypublishing.org
Human-centred AI/Robotics are quickly becoming important. Their core claim is that AI
systems or robots must be designed and work for the benefits of humans with no harm or …

An embodied brain model of the human foetus

Y Yamada, H Kanazawa, S Iwasaki, Y Tsukahara… - Scientific reports, 2016 - nature.com
Cortical learning via sensorimotor experiences evoked by bodily movements begins as early
as the foetal period. However, the learning mechanisms by which sensorimotor experiences …

ArborSim: Articulated, branching, OpenSim routing for constructing models of multi-jointed appendages with complex muscle-tendon architecture

X Fu, J Withers, JA Miyamae… - PLOS Computational …, 2024 - journals.plos.org
Computational models of musculoskeletal systems are essential tools for understanding
how muscles, tendons, bones, and actuation signals generate motion. In particular, the …

Computed torque control and force analysis for mechanical leg with variable rotation axis powered by servo pneumatic muscle

B Wang, Y Wang, J Huang, Y Zeng, X Liu, K Zhou - ISA transactions, 2023 - Elsevier
It is difficult for a humanoid leg driven by two groups of antagonistic pneumatic muscles
(PMs) to achieve a flexible humanoid gait, and its inherent strong coupling nonlinear …

Quadrupedal trotting with active compliance

I Havoutis, C Semini, J Buchli… - 2013 IEEE international …, 2013 - ieeexplore.ieee.org
We present a trotting controller for a torque controlled quadruped robot. Our approach uses
active compliance to overcome difficulties that are crucial for the realisation of symmetric …

Modeling of novel compound tendon-sheath artificial muscle inspired by hill muscle model

Q Zhang, X Wang, M Tian, X Shen… - IEEE Transactions on …, 2017 - ieeexplore.ieee.org
Various types of artificial muscles have been developed in recent years. Nevertheless, they
are not well suited to robot applications due to the defects of their mechanical properties …

Embodiment enables the spinal engine in quadruped robot locomotion

Q Zhao, K Nakajima, H Sumioka, X Yu… - 2012 IEEE/RSJ …, 2012 - ieeexplore.ieee.org
The biological hypothesis of spinal engine states that locomotion is mainly achieved by the
spine, while the legs may serve as assistance. Inspired by this hypothesis, a compliant …

Quantifying cooperation between artificial agents using synergistic information

P Wollstadt, M Krüger - 2022 IEEE Symposium Series on …, 2022 - ieeexplore.ieee.org
When designing interactive human-machine sys-tems, it is often assumed that it is desirable
for such systems to behave cooperatively towards a human operator in order to improve …

Bio-inspired controller for a robot cheetah with a neural mechanism controlling leg muscles

X Wang, M Li, P Wang, W Guo, L Sun - Journal of Bionic Engineering, 2012 - Springer
The realization of a high-speed running robot is one of the most challenging problems in
developing legged robots. The excellent performance of cheetahs provides inspiration for …

Development of modular multi-degree-of-freedom hybrid joints and robotic flexible legs via fluidic elastomer actuators

X Dong, Y Wang, XJ Liu, H Zhao - Smart Materials and Structures, 2022 - iopscience.iop.org
Soft actuators with high safety, adaptivity, and energy-to-weight ratio have the potential to be
used in developing more adaptive legged robots. In this work, we incorporate soft actuators …