Animals can instantly exhibit versatile behaviors in response to their circumstances to
survive in harsh natural environments. For example, many animals chase prey, escape from …

We present a framework for learning visually-guided quadruped locomotion by integrating
exteroceptive sensing and central pattern generators (CPGs), ie systems of coupled …

Animals achieve agile locomotion performance with reduced control effort and energy
efficiency by leveraging compliance in their muscles and tendons. However, it is not known …

Designers of legged robots are challenged with creating mechanisms that allow energy-
efficient locomotion with robust and minimalistic control. Sources of high energy costs in …

This paper introduces RABBIT, a novel robot-assisted bed bathing system designed to
address the growing need for assistive technologies in personal hygiene tasks. It combines …

Legged robots are becoming increasingly agile in exhibiting dynamic behaviors such as
running and jumping. Usually, such behaviors are either optimized and engineered offline …

Robotic locomotion is often approached with the goal of maximizing robustness and
reactivity by increasing motion control frequency. We challenge this intuitive notion by …

Animals run robustly in diverse terrain. This locomotion robustness is puzzling because
axon conduction velocity is limited to a few tens of meters per second. If reflex loops deliver …

Legged locomotion in humans is governed by natural dynamics of the human body and
neural control. One mechanism that is assumed to contribute to the high efficiency of human …

For decades, the field of biologically inspired robotics has leveraged insights from animal
locomotion to improve the walking ability of legged robots. Recently,'biomimetic'robots have …