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
Takahiro Kagawa, Ryu Suzuki
Summary: The study investigates stability and balance issues in walking using a compass gait model and balance map analysis. Experimental results confirm that during stable walking, the state is not located in the balance loss region, while stumbling leads to movement towards the forward balance loss region.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2021)
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
Engineering, Multidisciplinary
Sean Gart, Ryan Alicea, Wei Gao, Jason Pusey, John Nicholson, Jonathan E. Clark
Summary: The study evaluates the effectiveness of two strategies for adapting running in resistive terrains using a reduced-order dynamic model, and finds that intelligent retraction of the foot during flight has a more beneficial effect on the maximum achievable velocity and cost of transport of the runner.
BIOINSPIRATION & BIOMIMETICS
(2021)
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
Computer Science, Information Systems
Yasuhiro Akiyama, Yosuke Kuboki, Shogo Okamoto, Yoji Yamada
Summary: This study proposes a measure called the all-round margin of stability (MoS) to evaluate the kinematic balance in all directions. By analyzing the characteristics of the all-round MoS through a curving experiment, it was found that the parameters such as velocity and step width matched the features of the all-round MoS. This research is significant for the evaluation and improvement of gait assist devices.
Article
Engineering, Electrical & Electronic
Sichao Qin, Bingjie Dai, Jiaao Yan, Pengfei Li, Zhonghua Liu, Xi Chen
Summary: This article proposes a comprehensive quantitative assessment method for gait symmetry based on human electrostatic gait signals (EGSs). The results showed that hemiplegic patients and Parkinson's disease patients showed significant asymmetry in gait trends, signal amplitude, and temporal parameters compared to healthy subjects. Trend symmetry was found to be the most effective feature for distinguishing among the three groups. This article provides a comprehensive and effective analysis of gait symmetry based on EGSs.
IEEE SENSORS JOURNAL
(2023)
Article
Multidisciplinary Sciences
Johanna T. Schultz, David Labonte, Christofer J. Clemente
Summary: Many climbing animals use direction-dependent adhesives to attach to vertical or inclined surfaces. Researchers found that specialized climbers like geckos adjust their limb and toe movements to overcome the challenge of changing climbing directions. These multilevel dynamic adjustments could potentially inspire the development of efficient legged climbing robots.
JOURNAL OF THE ROYAL SOCIETY INTERFACE
(2023)
Article
Engineering, Multidisciplinary
Kelimar Diaz, Tommie L. Robinson, Yasemin Ozkan Aydin, Enes Aydin, Daniel Goldman, Kirsty Y. Wan
Summary: Locomotion at the microscale is complex, with microorganisms utilizing appendages like cilia and flagella to propel themselves in highly viscous environments. Inspired by the movement patterns of quadriflagellates, researchers developed autonomous, algae-inspired robotic models capable of self-propelling in viscous fluids.
BIOINSPIRATION & BIOMIMETICS
(2021)
Article
Engineering, Mechanical
Yue Zhao, Feng Gao, Qiao Sun, Yunpeng Yin
Summary: This paper presents a terrain classification and adaptive locomotion method for a hexapod robot, which utilizes force-based terrain classification by collecting joint torques and IMU information, and proposes dynamic alternating tripod trotting gait for adaptive locomotion on different ground properties. The method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam, providing valuable reference for other legged robots in outdoor environments.
FRONTIERS OF MECHANICAL ENGINEERING
(2021)
Article
Engineering, Biomedical
Mohammad Shushtari, Hannah Dinovitzer, Jiacheng Weng, Arash Arami
Summary: An ultra-robust accurate gait phase estimator, trained on data from hip and knee joint angles of 14 participants, was developed to estimate gait phases during treadmill and overground walking. The estimator showed uniform spatial and temporal performance across participants and gait conditions, and demonstrated robustness to various walking conditions and interactions with an exoskeleton.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2022)
Article
Engineering, Biomedical
Rishabh Bajpai, Deepak Joshi
Summary: This study proposes an automated and comprehensive gait assessment score (A-GAS) for children with cerebral palsy (CP), which has been validated using kinematic data of CP and typically developing subjects. A-GAS is calculated based on abnormality index (AI) and instance abnormality index (AII), providing a better depiction of the assessment score with a graphical representation of the gait assessment report. The performance of A-GAS was compared with present rating-based gait assessment scores and found to be consistent across high-cost multi-camera set-up and low-cost single camera set-up, making them interchangeable.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2021)
Article
Robotics
Fabian Jenelten, Ruben Grandia, Farbod Farshidian, Marco Hutter
Summary: This article presents a complete control pipeline capable of handling nonsmooth, nonlinear terrain geometry problems in real-time. By optimizing the base pose and footholds, along with a height map, the stability and robustness are improved to avoid converging into undesirable local optima.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Engineering, Mechanical
Shuaiby Mohamed, Hoan Quang Le, Youngshik Kim, Buhyun Shin
Summary: This paper proposes a new design for a hexapod robot that addresses the issues of weight and complexity often associated with conventional hexapod robots. The design uses telescopic legs connected to pivot joints at the hips, resulting in improved mobility and stability. The stabilization of the robot's body on uneven terrain is achieved through analytical kinematics, inverse kinematics, and geometric analysis. The simulation and physical prototype experiments demonstrate the effectiveness of the proposed design and body control algorithm in maintaining stability while moving on different surfaces.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2023)
Article
Robotics
Prem Chand, Sushant Veer, Ioannis Poulakakis
Summary: This letter addresses the problem of adapting a dynamically walking bipedal robot to follow a leading co-worker based on physical interaction. The approach relies on switching among Dynamic Movement Primitives (DMPs) guided by a trained supervisor. Certificates of generalization to novel leader intentions are provided through leveraging PAC-Bayes bounds, showing the efficacy of the approach.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Automation & Control Systems
Ismail Uyanik, Uluc Saranli, Mustafa Mert Ankarali, Noah J. Cowan, Omer Morgul
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2019)
Article
Biology
Ismail Uyanik, Shahin Sefati, Sarah A. Stamper, Kyoung-A Cho, M. Mert Ankarali, Eric S. Fortune, Noah J. Cowan
Article
Engineering, Multidisciplinary
O. K. Karagoz, G. Secer, M. M. Ankarali, U. Saranli
Summary: The spring-loaded inverted pendulum model is widely studied in the locomotion community, but it lacks the ability to control complex robot platforms with additional dynamic characteristics. This study explores the virtual pivot point (VPP) concept and its application in planar running behaviors. The study analyzes the existence and characteristics of periodic solutions and develops a feedback controller to stabilize system dynamics. The results show that the VPP concept, combined with the proposed controller, can be beneficial in designing and controlling legged robots with non-trivial upper body dynamics.
BIOINSPIRATION & BIOMIMETICS
(2022)
Article
Engineering, Electrical & Electronic
Muhammed Yusuf Candan, Mustafa Mert Ankarali
Summary: This study proposes a steady-state hybrid extended Kalman filter-based control method for sensorless output voltage regulation of a phase-shifted full-bridge DC/DC converter. The method can estimate the output voltage feedback as well as load resistance in real-time, providing stable operation. However, it has limitations for very low load resistances.
IET POWER ELECTRONICS
(2023)
Article
Engineering, Multidisciplinary
Guner Dilsad Er, Mustafa Mert Ankarali
Summary: In this manuscript, a novel method is presented for estimating the stochastic stability characteristics of metastable legged systems using the unscented transformation. By reducing the dimensionality of the system and utilizing the unscented transformation, the method enables efficient assessment of controller performance and analysis of parametric dependencies.
BIOINSPIRATION & BIOMIMETICS
(2023)
Article
Computer Science, Information Systems
Simay Atasoy, Osman Kaan Karagoz, Mustafa Mert Ankarali
Summary: Unmanned Surface Vehicles (USV) have gained attention in military, science, and research applications recently. To improve autonomy and navigation in unpredictable marine environments, new motion planning methods are proposed in this study using sparse random neighborhood graphs and nonlinear Model Predictive Control (MPC). The approach employs a feedback motion planning strategy based on obstacle-free regions and sequential composition of MPC policies.
Proceedings Paper
Engineering, Biomedical
Guner Dilsad Er, Mustafa Mert Ankarali
Summary: This paper presents an online, model-based adaptive control approach for stabilizing underactuated robots. By adjusting system parameters to compensate for modeling errors, this method can handle parameter uncertainties and exhibits robust performance in simulation studies.
2022 9TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2022)
(2022)
Article
Computer Science, Information Systems
Okan Arpacik, Mustafa Mert Ankarali
Summary: The study focuses on improving the computational efficiency of an online MPC algorithm for high-speed PMSM control applications. This is achieved by implementing a dual active set solver with modified matrix update methods and rearranging linear approximations for constraints on voltage and current. The efficiency and effectiveness of the proposed structure are verified through processor-in-the-loop simulations and physical platform experiments.
Article
Computer Science, Artificial Intelligence
M. Mert Ankarali
Summary: This study introduces a new feedback motion planning algorithm that substantially enhances sparsity and reduces input effort compared to existing methods, achieving effective results in simulation studies.
TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES
(2021)
Proceedings Paper
Automation & Control Systems
O. Kaan Karagoz, Simay Atasoy, M. Mert Ankarali
2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
(2020)
Proceedings Paper
Engineering, Electrical & Electronic
Osman Kaan Karagoz, Izel Sever, Guner Dilsad Er, Uluc Saranli, Mustafa Mert Ankarali
2020 28TH SIGNAL PROCESSING AND COMMUNICATIONS APPLICATIONS CONFERENCE (SIU)
(2020)
Proceedings Paper
Engineering, Electrical & Electronic
Ferhat Golbol, Hasan Olmez, Akif Hacinecipoglu, Mustafa Mert Ankarali
2020 28TH SIGNAL PROCESSING AND COMMUNICATIONS APPLICATIONS CONFERENCE (SIU)
(2020)
Proceedings Paper
Energy & Fuels
Muhammed Yusuf Candan, Mustafa Mert Ankarali
2020 IEEE ENERGY CONVERSION CONGRESS AND EXPOSITION (ECCE)
(2020)
Proceedings Paper
Engineering, Electrical & Electronic
O. Kaan Karagoz, Izel Sever, Uluc Saranli, M. Mert Ankarali
2020 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)
(2020)
Meeting Abstract
Zoology
I Uyanik, S. Sefati, S. A. Stamper, K. Cho, M. M. Ankarali, E. S. Fortune, N. J. Cowan
INTEGRATIVE AND COMPARATIVE BIOLOGY
(2020)