Fabrice O. Morin — accepted AI-conference papers

2023

Smooth Stride Length Change of Rat Robot with a Compliant Actuated Spine Based on CPG Controller

Yuhong Huang, Zhenshan Bing, Zitao Zhang, Kai Huang, Fabrice O. Morin, Alois Knoll

IROS 2023poster

The aim of this research is to investigate the relationship between spinal flexion and quadruped locomotion in a rat robot equipped with a compliant spine, controlled by a central pattern generator (CPG). The study reveals that spinal flexion can enhance limb stride length, but it may also cause sig…

Cited by 3 Source ↗Scholar ↗

2022

Enhanced Quadruped Locomotion of a Rat Robot Based on the Lateral Flexion of a Soft Actuated Spine

Yuhong Huang, Zhenshan Bing, Florian Walter, Alex Rohregger, Zitao Zhang, Kai Huang +2

IROS 2022poster

In nature, the movement of quadrupeds is completed under the combined action of the spine and the legs. Inspired by this, this paper explores the effect of a lateral flexing spine on the locomotion of a rat robot. Benefiting from the regular lateral flexion of a soft actuated spine, the rat robot ex…

Cited by 7 Source ↗Scholar ↗