Legged locomotion has several interesting challenges that need to be addressed, such as the ability of dynamically walk over rough terrain like stairs or stepping stones, as well as the ability to adapt to unexpected changes in the environment and the dynamic model of the robot. This thesis is driven towards solving these challenges and makes contributions on theoretical and experimental aspects to address: dynamic walking, model uncertainty, and rough terrain. On the theoretical front, we introduce and develop a unified robust and adaptive control framework that enables the ability to enforce stability and safety-critical constraints arising from robotic motion tasks under a high level of model uncertainty. We also present a novel method of walking gait optimization and gait library to address the challenge of dynamic robotic walking over stochastically generated stepping stones with significant variations in step length and step height, and where the robot has knowledge about the location of the next discrete foothold only one step ahead. On the experimental front, our proposed methods are successfully validated on ATRIAS, an underactuated, human-scale bipedal robot. In particular, experimental demonstrations illustrate our controller being able to dynamically walk at 0.6 m/s over terrain with step length variation of 23 to 78 cm, as well as simultaneous variation in step length and step height of 35 to 60cm and -22 to 22cm respectively. In addition to that, we also successfully implemented our proposed adaptive controller on the robot, which enables the ability to carry an unknown load up to 68 lb (31 kg) while maintaining very small tracking errors of about 0.01 deg (0.0017 rad) at all joints. To be more specific, we firstly develop robust control Lyapunov function based quadratic program (CLFQP) controller and L1 adaptive control to handle model uncertainty for bipedal robots. An application is dynamic walking while carrying an unknown load. The robust CLF-QP controller can guarantee robustness via a quadratic program that can be extended further to achieve robust safety-critical control. The L1 adaptive control can estimate and adapt to the presence of model uncertainty in the system dynamics. We then present a novel methodology to achieve dynamic walking for underactuated and hybrid dynamcal bipedal robots subject to safety-critical constraints. The proposed controller is based on the combination of control Barrier functions (CBFs) and control Lyapunov functions (CLFs) implemented as a state-based online quadratic program to achieve stability under input and state constraints. The main contribution of this work is the control design to enable stable dynamical bipedal walking subject to strict safety constraints that arise due to walking over a terrain with randomly generated discrete footholds. We next introduce Exponential Control Barrier Functions (ECBFs) as means to enforce high relativedegree safety constraints for nonlinear systems. We also develop a systematic design method that enables creating the Exponential CBFs for nonlinear systems making use of tools from linear control theory. Our method creates a smooth boundary for the safety set via an exponential function, therefore is called Exponential CBFs. Similar to exponential stability and linear control, the exponential boundary of our proposed method helps to have smoother control inputs and guarantee the robustness under model uncertainty. The proposed control design is numerically validated on a relative degree 4 nonlinear system (the two-link pendulum with elastic actuators and experimentally validated on a relative degree 6 linear system (the serial cart-spring system). Thanks to these advantages of Exponential CBFs, we then can apply the method to the problem of 3D dynamic walking with varied step length and step width as well as dynamic walking on time-varying stepping stones. For the work of using CBF for stepping stones, we use only one nominal walking gait. Therefore the range of step length variation is limited ([25 : 60](cm)). In order to improve the performance, we incorporate CBF with gait library and increase the step length range significantly ([10 : 100](cm)). While handling physical constraints and step transition via CBFs appears to work well, these constraints often become active at step switching. In order to resolve this issue, we introduce the approach of 2-step periodic walking. This method not only gives better step transitions but also offers a solution for the problem of changing both step length and step height. Experimental validation on the real robot was also successful for the problem of dynamic walking on stepping stones with step lengths varied within [23 : 78](cm) and average walking speed of 0:6(m=s). In order to address the problems of robust control and safety-critical control in a unified control framework, we present a novel method of optimal robust control through a quadratic program that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems under significant model uncertainty. The proposed method formulates robust control Lyapunov and barrier functions to provide guarantees of stability and safety in the presence of model uncertainty. We evaluate our proposed control design on different applications ranging from a single-link pendulum to dynamic walking of bipedal robot subject to contact force constraints as well as safety-critical precise foot placements on stepping stones, all while subject to significant model uncertainty. We conduct preliminary experimental validation of the proposed controller on a rectilinear spring-cart system under different types of model uncertainty and perturbations. To solve this problem, we also present another solution of adaptive CBF-CLF controller, that enables the ability to adapt to the effect of model uncertainty to maintain both stability and safety. In comparison with the robust CBF-CLF controller, this method not only can handle a higher level of model uncertainty but is also less aggressive if there is no model uncertainty presented in the system.

Navigating to a previously seen target without vision was unaffected by a 30-sec delay period at the beginning of the walking task. This study investigated whether a 60-sec delay, with or without a cognitive task, would modify the accuracy of reaching an 8-meter target. Thirty young adults participated. The delay, located at 0, 4, or 7 meters, was either to wait, or to count backwards. Kinematic data of distance travelled, distance-to-target, angular deviation, and body rotation from participants’ final position were recorded with a 3-D motion analysis system. Navigation precision was not significantly different with or without a delay, and whether or not the delays contained a cognitive task. However, comparisons among delays revealed a significant effect of delay position with larger distance errors occurring at the 0-meter delay in the 16 participants who walked at least 7 meters, suggesting that a delay at the beginning was more disruptive for navigation accuracy than when it occurred closer to the target.

The stopping of an earlier intended action is best explained in a race between a go process and a stop process (Logan & Cowan, 1984). The finish line, to which each process races, has been likened to a point of no return, specifically one that marks the onset of a final ballistic (unstoppable) process. Of note is the typical relation of reduced go probabilities and faster go latencies at shorter signal onset asynchronies (SOAs). (The SOA is the time interval between presentation of the go signal and presentation of the stop signal.) We report, in some cases, sub-maximal surface electromyograms (EMGs) at onset when trying to stop a maximal speeded action. These data indicate reduced synaptic drive to reach the motor pools as a result of earlier stopping effects and, as such, hold important implications for a theory of control. First, we interpret these data to suggest that the point of no return is phantom. Sub-maximal EMGs indicate a point in the control stream beyond which some EMG will be later observed but, importantly, they fail to mark the onset of a final ballistic process if, once breached, the same process remains subject to further effects of stopping. The alternative interpretation, however, that of a final ballistic process that receives sub-maximal input which results in sub-maximal output (i.e., EMG onset) cannot be ruled out from these data. We used the Hoffmann (H) reflex to probe further the mechanism of control for stopping a voluntary action. The H-reflex, an involuntary reflex that is taken as an index of spinal control, is relevant to the control of stopping because it is typically facilitated a short time before EMG onset. In other words, it provides a window of control within which a final ballistic process would otherwise be expected to locate. Thus, we interpret the effects of stopping on the H-reflex before EMG onset as strong evidence against a final ballistic process. Second, while the race model can explain the relation between the go probabilities, the go latencies and the SOAs, it fails to explain the sub-maximal EMG onsets that describe that same action in some cases. We submit a mechanism of excitatory-inhibitory interaction at all times up to the motor pool to explain both sets of empirical data. The viability of this theory is demonstrated using computer analyses. / Education, Faculty of / Kinesiology, School of / Graduate

Zebrafish is a frequently used model organism with an array of transgenic lines that have been used indevelopmental and physiological studies. We aim to generate novel transgenic zebrafish reporter lines to study subpopulations of spinal neurons in vivo. The gene editing system called CRISPR/Cas9 system was used to knock in reporter genes such as green fluorescent protein (GFP) or Gal4 transcription factor, to generate transgenic fish lines. Zebrafish embryos were injected with gRNAs targeting gabrb1 or nr4a2a and GFP or Gal4 plasmid, respectively. F0 larvae were screened, positive fish were raised until sexual maturity, and founders characterized to verify germline insertion. Three founders were found for gabrb1 and the location and the direction of the insert verified. The GFP expression was studied during development and differential expression patterns were identified whereas all founders had expression in brain and spinal cord. In parallel, positive fish from the Gal4 injections were raised and will be screened. Immunohistochemistry was performed to check if nr4a2a is expressed in the same cells as known neuronal markers. However, no co-localization was detected. The three gabrb1 founders identified in this study highlight the challenges into creating stable transgenic lines recapitulating true expression of the gene of interest. Sequencing, in-situ hybridization and immunohistochemistry should be performed to verify the line. A possible reason for the varying expression may be that through the knock-in we may interfere with regions regulating gene. The nr4a2a-Gal4 line will be used to perform functional studies. Those experiments will be performed using reporter genes, such as opsins or GCaMP, controlled by Upstream Activation Sequence (UAS). These transgenic lines will provide important insights regarding neuronal subpopulations that express gabrb1 and nr4a2a to unravelhow the locomotor network is formed.

The purpose of this study was to explore the differences in the aerobic response to wheeling between wheelchair dependent individuals and able-bodied individuals of similar genders and ages. Five wheelchair dependent men (WC) and five able-bodied men (AB) performed a 13 minute wheeling test (5 min. at rest, 8 min. wheeling) at 4.0 km∙hr-1. Heart rate (HR) and VO2 were recorded using a Vmax ST system during the constant speed test. There was no significant difference in HR or VO2 between the two groups during rest. Both HR and VO2 were higher for WC during exercise. The mean METS during exercise for WC and AB were 3.589 ± 0.516 and 2.726 ± 0.164, respectively. The results indicate that at a given workload a spinal cord injured wheelchair user will have a greater aerobic response than an able-bodied person in a wheelchair completing the same task.

Orientador: Rodrigo Vitório / Resumo: Introdução: Apesar dos correlatos neurais dos comprometimentos do andar associados ao envelhecimento não serem completamente compreendidos, estudos recentes apontam que idosos apresentam maior ativação do córtex pré-frontal (via indireta) durante o andar. Entretanto, os estudos existentes não consideram o processo de envelhecimento em um espectro mais amplo e, ao contrário, apresentam comparações limitadas a extremos de idade (adulto jovem X idoso). A compreensão da atividade neural do controle do andar no envelhecimento é importante para a identificação do momento em que as alterações inerentes ao envelhecimento afetam a atividade do córtex cerebral. Assim os objetivos deste estudo foram: (i) investigar os efeitos do envelhecimento na atividade do córtex pré-frontal (CPF) durante o andar usual, adaptativo e com tarefa dupla; e (ii) analisar a associação entre a atividade cortical e medidas do andar e de funções cognitivas. Materiais e Método: Noventa participantes foram avaliados, sendo 15 participantes sadios em cada grupo etário: 20-25, 30-35, 40-45, 50-55, 60-65 e 70-75 anos. Foram realizadas avaliações cognitivas, do andar e da atividade do CPF. Um sistema portátil de espectroscopia funcional de luz próxima ao infravermelho foi utilizado para o registro da atividade do CPF enquanto os participantes andavam em um circuito em três condições: andar usual, adaptativo (ultrapassagem de obstáculos) e com tarefa dupla. Um carpete com sensores de pressão foi posicionado em uma d... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: Introduction: Although the neural correlates of walking impairments associated with aging are not fully understood, recent studies indicate that the older adults present greater activation of the prefrontal cortex during walking. However, existing studies do not consider the aging process in a broader spectrum and, on the contrary, present limited comparisons to extremes of age (younger X older adult). Understanding the neural activity of walking control in aging is important to identify when the inherent changes in aging affect the activity of the cerebral cortex. Thus, the aims of this study were: (i) to investigate the effects of aging on the activity of the prefrontal cortex (PFC) during usual, adaptive and dual task walking; and (ii) to analyze the association of cortical activity with walk measures and cognitive functions. Materials and Methods: Ninety participants were evaluated, with 15 healthy participants in each age group: 20-25, 30-35, 40-45, 50-55, 60-65 and 70-75 years. Cognitive, walking and PFC activity assessments were performed. A portable near infrared functional spectroscopy system was used to record PFC activity while participants walked on a circuit in three conditions: usual, adaptive (obstacle avoidance) and dual task walking. A carpet with pressure sensors was positioned in one of the straight lines of the circuit to record walk parameters. ANCOVAs were used to analyze differences in oxyhemoglobin concentrations between groups and conditions; Two-way ... (Complete abstract click electronic access below) / Mestre

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In recent years, the field of Soft Robotics has grown exponentially resulting in a variety of different soft robot designs. A majority of the current soft robots can easily be split into two distinct categories: Navigation and Grasping. Navigation robots alter their body orientation to navigate around an environment. Grasping robots are designed to grasp a variety of unknown objects without damaging said object. However, only a few robots are able to demonstrate both aspects and even fewer robots are able to do both simultaneously. As thus, the goal of this thesis is to create a soft robot that is able to pick up and support an additional payload. This thesis will explore the challenges and difficulties that come with designing such a robot. For this thesis, we chose to simplify the manufacturing process making it easy to create and test different designs. We primarily used Pneumatic Network actuators for the majority of the soft robot. This allowed us to use a layered manufacturing approach to create the full robot. Finally, we split the robot into two main components which have their own purpose, which made it easy to test and design each component. Attached to this thesis are three different supplementary videos. The first one labeled "Walking Gaits" demonstrate how the robot is capable of moving forward. This video is comprised of several sections showing the full robot moving, just the base moving, and the full robot briefly moving as it supports a payload. The second video is labeled "Additional Walking". This video shows how the base can effectively move around a given environment. The final video if called "Grasping Method" which demonstrates the different grasping methods that the full robot uses to pick up objects. / 2021-06-03T00:00:00Z

The brain evolved to control behavior, and locomotion is among the behaviors most critical to animal survival. The neural mechanisms of skilled locomotion have been studied for decades, yet recently developed technologies offer the opportunity to shine new light on this long studied behavior. I leveraged these technologies to develop a system for studying the behavioral strategies and neural mechanisms of skilled locomotion in mice. In Chapter 2, I use detailed 3D kinematic tracking and behavioral modelling to describe a rapid sensorimotor decision that determines the kinematic strategies used by mice to step over obstacles. Despite the whisker dependency of this behavior, performance is minimally affected by manipulations of whisker sensory cortex, whereas motor cortex manipulations impair but did not prevent obstacle clearance. Neither cortical manipulation substantially impacts the sensorimotor decision. In Chapter 3, we turn to the cerebellum. The cerebellum is thought to contribute to the coordination of movement, as evinced by the locomotor deficits that are a hallmark of cerebellar ataxia. However, much cerebellar research has focused on simple behaviors involving single body parts. Furthermore, the recent discovery of reward signals in the cerebellar cortex has drawn attention to its potential non-motor functions, but whether such signals exist in the output of the cerebellum is unknown. We conducted an electrophysiological survey of the deep cerebellar nuclei to characterize the signals communicated by the cerebellum to downstream structures. Preliminary analyses from this ongoing work suggest that cerebellar output is dominated by orofacial and locomotor signals, whereas reward related modulations are largely accounted for by the behavioral correlates of reward delivery. Collectively, these results demonstrate that quantitative whole body analyses of ethologically inspired behaviors can enhance our understanding of the neural control of sensorimotor behaviors.

The purpose of the present study is to examine swimming position, gait, stroke speed, speed over distance, endurance, and willingness to enter water in four species of mice found in the Sacramento-San Joaquin River Delta of California; Mus musculus, Reithrodontomys megalotis longicaudus, Miorotus californicus acstuarius, and Peromyscus maniculatus gambelii.