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This paper introduces a modified methodology on basis of the RULA (Rapid Upper Limb Assessment) to assess the astronaut ergonomics for space flight in microgravity environment. The proposed methodology under the combination of the neutral configuration in microgravity with the joint movement ranges to establish the assessment criterion for the modified RULA methodology to assess the ergonomics in...
In order to realize adaptive quadruped locomotion on terrains with different properties (such as surface friction or elasticity modulus), we plan to collect the foot-ground contact force and gyroscope information during locomotion on different ground substrates, then classify the ground substrates with the feature vector extracted from the collected data using Support Vector Machine (SVM) algorithm...
Inspired by gecko's movement characteristics, we proposed a gecko inspired climbing robot, which is based on the GPL (Gecko inspired mechanism with a Pendular waist and Linear legs) model. In this paper, further research is made to analysis its gait and continuity. We optimist the driving angle to maintain the cyclical movement. Furthermore, the issues related configuration and motion planning are...
In this paper, we propose a gait transition strategy for a quadruped robot using the Hopf Oscillator model and trajectory planning. The Hopf Oscillator model is used to generate rhythmic moving pattern during trot gait, and trajectory planning based on the Stability Margin (SM) is employed to implement walk gait as well as the transition between walk gait and trot gait. Especially, we develop a moving...
Central Pattern Generator (CPG) can be used to generate rhythmic control signals for quadruped locomotion, such as walk, trot, and gallop gait. The walk gait is a statically stable quadruped gait, and suitable for enhancing the robustness of robots. However, as a result of lacking consideration of dynamics characteristics of robots, the swing phase of control signals generated by CPG may be not consistent...
Inspired by geckos, we built a new configuration for climbing robot, the GPL model with one passive waist and four active axil legs. In this paper, further research was made to analysis its motion. We found the anomalies line between supporting feet and its effect on robot motion. A step further, the principia of configuration design and gait planning were proposed based on dynamic analysis. The prototype...
Locomotion on rough terrain is a critical and basic capability for quadruped robots. In this paper, we present a gait planning approach of crossing planar obstacles for a quadruped robot. The system is composed by rhythmic motion generation and gait planning algorithm. Rhythmic motion generation is mainly composed of two parts: the Central Pattern Generator (CPG) model based on the Holf oscillator...
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