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The remarkable ability of goats to maintain stability during climbing cliffs or trees provides a valuable opportunity to understand some of the secrets of stable legged locomotion on unstructured terrains. This paper, for the first time, presents analytical and experimental explanations as to how the morphological computation at the goat hoof makes a significant contribution to slip reduction on both...
Internal impedance is one of the key factors determining the quality of embodied perception and action in biological organisms and robots. Though the role of impedance control in robotic actuation has been well studied, its significance in the accuracy of proprioception with embodied sensors is not well known yet. Therefore, it is important to characterize the relationship between the entropy of sensor...
Maintaining the grip on an artery with a pulsating impedance, holding the steering wheel of a vehicle on a bumpy terrain, or holding a live hamster without excessive squeezing may be trivial tasks to most humans. However, a robot will find it very difficult to maintain the grip of such uncertain objects based on real-time feedback control. This paper presents a stochastic control law to maintain the...
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