Understanding the fundamental relationships between physics and its information-
processing capability has been an active research topic for many years. Physical reservoir …

From the viewpoint of evolution, vertebrates first accomplished locomotion via motion of the
spine. Legs evolved later, to enhance mobility, but the spine remains central. Contrary to …

More and more biologically inspired robots present spines with multiples degrees of
freedom to resemble their biological counterparts. The function of the spine on both animal …

Modern legged robot morphologies assign most of their actuated degrees of freedom
(DoF's) to the limbs and designs continue to converge to twelve DoF quadrupeds with three …

Continuum manipulators offer many advantages compared to their rigid-linked counterparts,
such as increased degrees of freedom and workspace volume. Inspired by biological …

We document empirically stable bounding using an actively powered spine on the Inu
quadrupedal robot, and propose a reduced-order model to capture the dynamics associated …

Compliant movement and stress buffering of the torso are particularly important for state
transition during high-speed locomotion in quadrupedal mammals. Currently, passive …

The robotic spine has a lot of potential for snake-like, quadruped, and humanoid robots, as it
can improve their mobility, flexibility, and overall function. A common approach to …

For direct-drive legged robots operating in unstructured environments, workspace volume
and force generation are competing, scarce resources. In this paper we demonstrate that …

We present a neuronal architecture to control a compliant robotic model of the human
vertebral column for postural balance. The robotic structure is designed using the principle …