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Research of load carriage effect on center of mass(CoM) behavior during human and robot locomotion has been driven by the prevalence of everyday tasks requiring load bearing or transfer. More recently, this has been accentuated in the design of exoskeletons and military backpack systems aimed at assisting with weighty load handling. Despite this importance, complicated body dynamics has stymied the...
Aggregation of self-reconfigurable robotic modules can potentially offer many advantages for robotic locomotion and manipulation. The resulting system could be more reliable and fault-tolerant and provide the necessary flexibility for new tasks and environments. However, self-aggregation of modules is a challenging task, especially when the alignment of the docking parties in a 3D environment involves...
Locomotion maneuvers over irregular terrains involve complex forces and movements that make estimation of center of mass(CoM) behavior a challenging task. Nevertheless, understanding CoM dynamics remains pivotal in locomotion planning for both humans and robots. Current methods for CoM position estimation rely heavily on expensive and ungainly tools, for example force plates, that render CoM analysis...
Center of Mass(CoM) estimation in rough terrains is hampered by complicated body dynamics yet remains critically important in the study of human and robot motion planning. Current techniques for CoM estimation are encumbered by lengthy calibration periods requiring the use of specialized tools(force plates, motion capture, etc). This paper presents a novel and straightforward geometric method for...
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