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This paper proposes a robotic walker system with standing, walking and seating assistance function. Our system focuses on domestic use for aged person who needs nursing in their daily life. Our key ideas are two topics. The first topic is combination of standing assistance function and walking assistance function. In previous works, many assistance devices are specialized in only ??standing-up operation??...
It is generally accepted that locomotion in animals is based on a trade-off between energy consumption and stability. However, this trade-off is the result of the interaction between complex mechanical and control systems. To gain insight into that issue, a step-by-step approach is needed. In this study, as a first step to investigate three dimensional quadrupedal walking, we aim at establishing a...
This paper proposes a robotic walker system with standing, walking and seating assistance function. Our system focuses on domestic use for aged person who needs nursing in their daily life. Our key ideas are two topics. The first topic is combination of standing assistance function and walking assistance function. In previous works, many assistance devices are specialized in only ldquostanding-up...
This paper proposes a robotic walker system with standing and walking assistance function. Our system focuses on domestic use for aged person who needs nursing in their daily life. Our key ideas are two topics. The first topic is combination of standing assistance function and walking assistance function. In previous works, many assistance devices are specialized in only ldquostanding-up operationrdquo...
Our study aims at the design and implementation of a general controller for quadruped locomotion, allowing the robot to use the whole range of quadrupedal gaits. The controller design phase is carried out using simulation. This paper reports the simulation of steady walking at 0.6 m/s of both the forelegs only and the hind legs only (with a supporting structure at the back and at the front respectively),...
There are a lot of research that measure the oxygen uptake, dynamics and kinematics, etc when human walks on the treadmill. Especially in the splitbelt treadmill walking that the speed of the right and left belt is different, a remarkable difference is seen between normal and cerebellar disease subject in kinematics. In the present paper, the splitbelt treadmill walking, which is achieved by the cyclic...
Our study aims at the design and implementation of a general controller for quadruped locomotion, allowing the robot to use the whole range of quadrupedal gaits (i.e. from low speed walking to fast running). A general legged locomotion controller must integrate both posture control and rhythmic motion control and have the ability to shift continuously from one control method to the other according...
A well-designed biped robot has its own natural dynamics suitable for efficient walking. Such natural dynamics was not considered in the conventional ZMP (zero moment point) based control method. In addition, ZMP based control method has the problems on autonomous adaptation. In this paper, we report on a biped robot: 'Tetsuro' designed with consideration of natural dynamics, and indicate inverted...
In this paper we present the system design and analysis of a quadruped robot, Rush, that we have constructed to study autonomous and efficient running on flat and rough terrain. The Rush robot is a compact, kneed, four legged machine with only one actuator per compliant leg. We have proposed a novel control strategy for the quadruped robot in consideration of several engineering limitations on sensory...
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