Article
Robotics
Malte Schilling, Jan Paskarbeit, Helge Ritter, Axel Schneider, Holk Cruse
Summary: Animal locomotion provides a model for adaptive behavior, with insects showing that flexibility results from a modular architecture and neural network. A control system implemented on a hexapod robot handles various walking patterns and proposes a cognitive expansion to deal with novel situations. Internal simulation-based planning is used when the model-free controller fails, demonstrating feasibility in walking over uncertain terrain in three scenarios.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Multidisciplinary Sciences
Baxi Chong, Juntao He, Daniel Soto, Tianyu Wang, Daniel Irvine, Grigoriy Blekherman, Daniel I. Goldman
Summary: This article develops a matter-transport framework based on the principles of information transmission and demonstrates that noninertial locomotion can be reliably generated over complex terrains. Experiments show that serially connected legged robots can achieve reliable transport on such terrain without sensing and control.
Article
Automation & Control Systems
Emmanouil Spyrakos-Papastavridis, Jian S. Dai
Summary: This article presents a framework for systematic, stable and passive control of flexible-joint bipedal robots, enabling stability and regulation during trajectory-tracking tasks. It also introduces a novel approach for tuning the linear quadratic regulator (LQR) to create models with different kinetic chain and impedance combinations. The proposed control methods are validated through practical experiments and simulations, demonstrating their stability and performance.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Computer Science, Artificial Intelligence
William P. Zyhowski, Sasha N. Zill, Nicholas S. Szczecinski
Summary: Insects utilize campaniform sensilla (CS) to measure load on their legs, which has significant effects on walking behavior. A dynamically scaled robotic model of a stick insect leg was used to simulate load feedback signaled by CS. The experiments suggest that CS sensory discharge robustly signals changes in force, which are crucial for maintaining leg coordination on extreme terrains.
FRONTIERS IN NEUROROBOTICS
(2023)
Article
Engineering, Biomedical
Holly A. Knapp, Blaire A. Sobolewski, Jesse C. Dean
Summary: This study investigated the effects of augmented and disrupted feedback on the relationship between pelvis dynamics and foot placement in gait. The results showed that augmented feedback strengthened this relationship, while disrupted feedback did not significantly weaken it.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2021)
Article
Automation & Control Systems
Hao Sun, Junjie Yang, Yinghao Jia, Changhong Wang
Summary: This article proposes a free gait generation algorithm that only takes the robot state as input. By introducing the feasible impulse polytope, which takes into account both linear and angular momentum impulses acting on the body, a leg capability metric related to the effect of take-off and touch-down on the body motion is formulated. Gait sequence, take-off timing, and touch-down location can be automatically adjusted online based on a metric threshold.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Engineering, Biomedical
Dawit Lee, Bailey McLain, Inseung Kang, Aaron Young
Summary: This study compared the biomechanical effects of three different assistance strategies on a knee exoskeleton system and found that all strategies significantly reduced metabolic cost compared to the unpowered condition, with no significant differences between strategies. Powered extension assistance during early stance was shown to improve performance, but user control of assistance may not be significant when walking on an inclined surface with a knee exoskeleton.
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING
(2021)
Article
Engineering, Multidisciplinary
Henry Chang, Justin Chang, Glenna Clifton, Nick Gravish
Summary: This study investigated a passive method for overcoming swing-collisions in legged locomotion by implementing virtual compliance control in a robot leg. The virtual compliance methods improved the successful negotiation of step obstacles by over 70%, highlighting the importance of limb compliance in enhancing walking performance in naturalistic environments.
BIOINSPIRATION & BIOMIMETICS
(2021)
Article
Engineering, Biomedical
Qiang Chen, Shijie Guo, Jing Wang, Jiaxin Wang, Dan Zhang, Shanhai Jin
Summary: The study found that bi-directional assistance can reduce the metabolic power of human walking, with a more significant effect than uni-directional assistance. Bi-directional assistance not only reduces joint workload and muscle activity, but also promotes energy exchange during walking, leading to increased biological efficiency.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2022)
Article
Biotechnology & Applied Microbiology
Jiayu Ding, Talia Y. Moore, Zhenyu Gan
Summary: Researchers developed a simulated jerboa model to investigate the mechanisms of gait transitions in non-cursorial animals. Results showed that coupled changes and uncoupled models of the neutral leg swing angle are the two primary mechanisms that influence gait transitions.
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
(2022)
Article
Robotics
Ruben Grandia, Fabian Jenelten, Shaohui Yang, Farbod Farshidian, Marco Hutter
Summary: Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of system dynamics. Optimizing these motions and interactions in the presence of imperfect perception is challenging. This study presents a perception, planning, and control pipeline that optimizes robot motions in real time by using a sequence of constraints, precomputed components, and a combination of optimization techniques. The proposed method is validated in simulation and on a quadruped platform, achieving state-of-the-art dynamic climbing.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Robotics
Alexander Luis Mitchell, Wolfgang Xaver Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
Summary: In this article, the limitation of current quadruped locomotion planners is addressed, and it is shown that varying key gait parameters of the in-swing feet midair is crucial for increasing controller robustness. A generative model trained on a single trot style is used to learn a latent space capturing the key stance phases constituting a particular gait, enabling holistic plans synthesizing a continuous variety of trot styles. It is demonstrated that drive signal properties directly map to gait parameters, and these synthesized gaits are continuously variable online during robot operation, facilitated by the generative model. The approach is evaluated on two versions of the real ANYmal quadruped robots, achieving a continuous blend of dynamic trot styles while being robust and reactive to external perturbations.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Robotics
Haitao Yu, Haibo Gao, Zongquan Deng
Summary: This article extends the traditional SLIP model from sagittal hopping into spatially running and proposes a novel perturbation-based approach to obtain an analytical approximate solution for the 3-D-SLIP model. The derived solution offers satisfactory prediction performance in a wide range of model parameter combinations, showcasing potential in motion planning and gait control for legged robots.
IEEE TRANSACTIONS ON ROBOTICS
(2021)
Article
Robotics
Nelson Rosa, Kevin M. Lynch
Summary: This article introduces a topological method for generating families of walking gaits for underactuated biped walkers, utilizing implicitly defined feasible periodic gaits within a state-time-control space. Equilibria are used as reliable templates for constructing gait families on several 2-D and 3-D biped walkers.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Computer Science, Artificial Intelligence
T. F. Nygaard, C. P. Martin, D. Howard, J. Torresen, K. Glette
Summary: Evolutionary robotics is applied to optimize the control and body of a robot for adaptation to various physical environments, with a focus on real-world evaluations. The study shows that morphology and control parameters significantly vary between different environments, and the approach demonstrates the ability to transfer to unseen terrains. The research highlights the importance of complex interactions among control, body, and environment in enabling robots to efficiently operate in diverse conditions.
EVOLUTIONARY COMPUTATION
(2021)
Correction
Biology
Michael Guenther, Daniel F. B. Haeufle, Syn Schmitt
JOURNAL OF THEORETICAL BIOLOGY
(2020)
Letter
Multidisciplinary Sciences
Tom Weihmann
PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA
(2020)
Article
Biophysics
Falk Moerl, Michael Guenther, Julia M. Riede, Maria Hammer, Syn Schmitt
BIOMECHANICS AND MODELING IN MECHANOBIOLOGY
(2020)
Article
Physiology
Robert Rockenfeller, Michael Guenther, Norman Stutzig, Daniel F. B. Haeufle, Tobias Siebert, Syn Schmitt, Kay Leichsenring, Markus Boel, Thomas Goetz
FRONTIERS IN PHYSIOLOGY
(2020)
Review
Behavioral Sciences
Reinhard Blickhan, Tom Weihmann, Friedrich G. Barth
Summary: The study critically reviews the measurement of cuticular strain during locomotion using foil strain gauges, providing insights into the loads of the exoskeleton bears and the adaptive value of natural strain detectors. Results show that strain induced at various sites in the tibia during free locomotion can be interpreted based on strain/load ratio and beam theory beyond the joint region. The study also discusses the importance and limitations of strain gauge technology in studying freely moving spiders.
JOURNAL OF COMPARATIVE PHYSIOLOGY A-NEUROETHOLOGY SENSORY NEURAL AND BEHAVIORAL PHYSIOLOGY
(2021)
Article
Biology
Michael Guenther, Falk Moerl
Summary: This study validates a reductionist spine model's predictions using human intradiscal pressure data, and examines the compressive stress on intervertebral discs in different species. The results demonstrate that human everyday compressive disc stresses are lower than those in big quadrupedal animals, and that erecting the spine significantly reduces the pressure.
Article
Biology
Michael Guenther, Robert Rockenfeller, Tom Weihmann, Daniel F. B. Haeufle, Thomas Goetz, Syn Schmitt
Summary: The study investigates the allometry of the maximum speed of legged running in animals. The analysis reveals that there is an optimal range of body masses for the highest terrestrial running speeds to occur. The biomechanical model proposed in the study considers important concepts such as ground reaction force, air drag, muscle-tendon dynamics, and muscle inertia, providing a mechanistic explanation for the allometry of maximum legged running speed.
JOURNAL OF THEORETICAL BIOLOGY
(2021)
Article
Biotechnology & Applied Microbiology
Tom Weihmann
Summary: Most terrestrial animals move with a specific number of legs for propulsion, which varies between species. Understanding the reasons for these differences is crucial for understanding the evolution of multiple-leg locomotor systems and the development of robots. Some species also change the number of legs they use for propulsion when speeding up, but the reasons for this behavior remain unclear.
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
(2022)
Article
Multidisciplinary Sciences
Benjamin Wipfler, Felix Triesch, Dominic Evangelista, Tom Weihmann
Summary: The study provides a detailed description of the head of Ergaula capucina, filling the research gap for the head of Corydioidea. The study reveals that the head of Ergaula has many characteristics of other roach species, but also shows some unique adaptations. Additionally, a new water-absorption mechanism was discovered.
Editorial Material
Medicine, General & Internal
Michael Guenther, Falk Moerl, Robert Rockenfeller
FRONTIERS IN MEDICINE
(2022)
Editorial Material
Medicine, General & Internal
Falk Moerl, Michael Guenther, Robert Rockenfeller
FRONTIERS IN MEDICINE
(2022)
Article
Multidisciplinary Sciences
R. Rockenfeller, M. Guenther, F. Moerl
Summary: Counts of SARS-CoV-2-related deaths have been used to justify severe measures, but recent studies show that the reported excess mortality is an exaggeration. In Germany, the excess mortality for the years 2020 and 2021 is much lower than previously estimated, with a negative count of -18,500 in 2020 and a minor positive count of 7,000 in 2021. The analysis also suggests that the number of Germans who died due to, rather than with, CoViD-19 is no more than 59,500.
ROYAL SOCIETY OPEN SCIENCE
(2023)
Article
Physics, Fluids & Plasmas
Daniel Renjewski, Susanne Lipfert, Michael Guenther
Summary: This article proposes a mathematical model that captures the dynamics of human foot during walking and analyzes the functional interplay of biomechanical contributors. It identifies the foot as the key functional element in walking and provides insights for gait therapy, assistive device development, and humanoid robot design and control.
Review
Entomology
Tom Weihmann
ARTHROPOD STRUCTURE & DEVELOPMENT
(2020)
Article
Robotics
Daniel F. B. Haeufle, Isabell Wochner, David Holzmueller, Danny Driess, Michael Guenther, Syn Schmitt
FRONTIERS IN ROBOTICS AND AI
(2020)
Article
Biology
Iain Hunter, Raz Leib
Summary: Natural movement is related to health, but it is difficult to measure. Existing methods cannot capture the full range of natural movement. Comparing movement across different species helps identify common biomechanical and computational principles. Developing a system to quantify movement in freely moving animals in natural environments and relating it to life quality is crucial. This study proposes a theoretical framework based on movement ability and validates it in Drosophila.
JOURNAL OF THEORETICAL BIOLOGY
(2024)
Article
Biology
Andy Gardner
Summary: Fisher's geometric model is a useful tool for predicting key properties of Darwinian adaptation, and here it is applied to predict differences between the evolution of altruistic versus nonsocial phenotypes. The results suggest that the effect size maximizing probability of fixation is smaller in the context of altruism and larger in the context of nonsocial phenotypes, leading to lower overall probability of fixation for altruism and higher overall probability of fixation for nonsocial phenotypes.
JOURNAL OF THEORETICAL BIOLOGY
(2024)
Article
Biology
Thomas F. Pak, Joe Pitt-Francis, Ruth E. Baker
Summary: Cell competition is a process where cells interact in multicellular organisms to determine a winner or loser status, with loser cells being eliminated through programmed cell death. The winner cells then populate the tissue. The outcome of cell competition is context-dependent, as the same cell type can win or lose depending on the competing cell type. This paper proposes a mathematical framework to study the emergence of winner or loser status, highlighting the role of active cell death and identifying the factors that drive cell competition in a cell-based modeling context.
JOURNAL OF THEORETICAL BIOLOGY
(2024)
Article
Biology
Haruto Tomizuka, Yuuya Tachiki
Summary: Batesian mimicry is a strategy in which palatable prey species resemble unpalatable prey species to avoid predation. The evolution of this mimicry plays a crucial role in protecting the unpalatable species from extinction.
JOURNAL OF THEORETICAL BIOLOGY
(2024)
Article
Biology
Jason W. Olejarz, Martin A. Nowak
Summary: Gene drive technology shows potential for population control, but its release may have unpredictable consequences. The study suggests that the failure of suppression is a natural outcome, and there are complex dynamics among wild populations.
JOURNAL OF THEORETICAL BIOLOGY
(2024)
Article
Biology
Hamid Ravaee, Mohammad Hossein Manshaei, Mehran Safayani, Javad Salimi Sartakhti
Summary: Gene expression analysis is valuable for cancer classification and phenotype identification. IP3G, based on Generative Adversarial Networks, enhances gene expression data and discovers phenotypes in an unsupervised manner. By converting gene expression profiles into images and utilizing IP3G, new phenotype profiles can be generated, improving classification accuracy.
JOURNAL OF THEORETICAL BIOLOGY
(2024)
Article
Biology
Beatrix Rahnsch, Leila Taghizadeh
Summary: This study forecasts the evolution of the COVID-19 pandemic in Germany using a network-based inference method and compares it with other approaches. The results show that the network-inference based approach outperforms other methods in short-to mid-term predictions, even with limited information about the new disease. Furthermore, predictions based on the estimation of the reproduction number in Germany can yield more reliable results with increasing data availability, but still cannot surpass the network-inference based algorithm.
JOURNAL OF THEORETICAL BIOLOGY
(2024)
Article
Biology
Rongsheng Huang, Qiaojun Situ, Jinzhi Lei
Summary: Maintaining tissue homeostasis requires appropriate regulation of stem cell differentiation. Random inheritance of epigenetic states plays a pivotal role in stem cell differentiation. This computational model provides valuable insights into the intricate mechanism governing stem cell differentiation and cell reprogramming, offering a promising path for enhancing the field of regenerative medicine.
JOURNAL OF THEORETICAL BIOLOGY
(2024)
Article
Biology
Patrick Vincent N. Lubenia, Eduardo R. Mendoza, Angelyn R. Lao
Summary: This study compares insulin signaling in healthy and type 2 diabetes states using reaction network analysis. The results show similarities and differences between the two conditions, providing insights into the mechanisms of insulin resistance, including the involvement of other complexes, less restrictive interplay between species, and loss of concentration robustness in GLUT4.
JOURNAL OF THEORETICAL BIOLOGY
(2024)
Article
Biology
Nuverah Mohsin, Heiko Enderling, Renee Brady-Nicholls, Mohammad U. Zahid
Summary: Mathematical modeling is crucial in understanding radiobiology and designing treatment approaches in radiotherapy for cancer. This study compares three tumor volume dynamics models and analyzes the implications of model selection. A new metric, the point of maximum reduction of tumor volume (MRV), is introduced to quantify the impact of radiotherapy. The results emphasize the importance of caution in selecting models of response to radiotherapy due to the artifacts imposed by each model.
JOURNAL OF THEORETICAL BIOLOGY
(2024)
Article
Biology
Armindo Salvador
Summary: Michael Savageau's Biochemical Systems Analysis papers have had a significant impact on Systems Biology, generating core concepts and tools. This article provides a brief summary of these papers and discusses the most relevant developments in Biochemical Systems Theory since their publication.
JOURNAL OF THEORETICAL BIOLOGY
(2024)