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We present balance recovery control of bipedal robotic walkers under foot slip disturbance. A dynamic model is first presented to capture the bipedal locomotion under slip disturbance. Two different control approaches are presented: one is based on the feedback linearization and the second one uses the disturbance observer (DOB) method. The recovery strategies and profiles are designed through linear...
Most existing bipedal dynamics models are built on an assumption of no foot slip. We relax such assumption and present hybrid zero dynamics model and properties for bipedal walking with foot slip. When foot slips, the biped hybrid zero dynamics (HZD) preserve rich features such as high dimensionality and transitions between slip and non-slip dynamics. We present the closed-form of the HZD for human...
We present a balance recovery control design for human walking with foot slip. The control strategy is built on the two-mass linear inverted pendulum model (LIP) that represents the human body and limb motions. We first validate the model through experiments of human normal walking and walking with foot slip. We then design a balance recovery control using the capture point (CP) concept. We extend...
Dynamic modeling of human bipedal walking is important for studying human locomotion and designing assistive and rehabilitation robotic devices. Physical principle-based models and data-driven learning models are two main methods to obtain human walking dynamics. We present analysis and connections between these two different modeling approaches. Mapping and correspondence are established between...
Slip and fall is one of the major causes for human injuries for elders and professional workers. Real-time detection and prediction of the foot slip is critical for developing effective assistive and rehabilitation devices to prevent falls and train balance disorder patients. This paper presents a novel real-time slip detection and prediction scheme with wearable inertial measurement units (IMUs)...
Slip is the major cause of falls in human locomotion. We present a new bipedal modeling approach to capture and predict human walking locomotion with slips. Compared with the existing bipedal models, the proposed slip walking model includes the human foot rolling effects, the existence of the double-stance gait and active ankle joints. One of the major developments is the relaxation of the nonslip...
In this paper we proposed a novel navigation scheme and apply it to the home environment. Robot navigation in the presence of human is highly focused in the field of robotics these days. While the robot maneuvering in crowded space, like home and office environments, we should not only consider collision avoidance but also pay attention to human feelings. In order to deal with this issue, we present...
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