Purpose: Inverse-dynamics (ID) analysis is an approach widely used for studying spine biomechanics and the estimation of muscle forces. Despite the increasing structural complexity of spine models, ID ...

Animals move by generating forces against their surrounding environment. We present a unifying framework that applies to slithering, walking, and swimming in viscous (Stokes) fluids. Our results show ...

Added customizable option to show lower resolution for large images to improve performance. Added customizable option to lock movement direction to "down only" for images with height larger than ...

This paper details the implementation of state-of-the-art whole-body control algorithms on the humanoid robot iCub. We regulate the forces between the robot and its surrounding environment to ...