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Attracted by the fact that there are lots of demands for robots working in the amphibious environment, this paper proposes a novel, simple and efficient leg for amphibious robots. That leg is made of the elastic material. The leg could deform a curve-like one passively, forced by the resistance when moving on the ground. Moreover, the leg would recover straight, fin-like, promoting the robots swimming...
The locomotion performances of a quadruped robot with compliant feet based on closed-chain mechanism legs are presented. The legs of this quadruped robot were made up of six-bar linkage mechanism with one degree of freedom. And a special foot trajectory could be gained through kinematic analysis and optimum design of the six-bar linkage mechanism. In order to reduce the impact force of quadruped robot's...
The rapid deployment of sensing technology in smartphones and the explosion of their usage in people's daily lives provide users with the ability to collectively sense the world. This leads to a growing trend of mobile healthcare systems utilizing sensing data collected from smartphones with/without additional external sensors to analyze and understand people's physical and mental states. However,...
Device-free passive localization enables locating targets (e.g., intruders or victims) that do not carry any radio devices nor do they actively participate in the wireless localization process. This is because the wireless environments will get affected when people move into the area, which result in the changes of Received Signal Strength (RSS) of the wireless links. In this paper, we first show...
The amphibious robot is so attractive and challenging for its broad application and its complex working environment. It should walk on rough ground, maneuver underwater and pass through transitional terrain such as sand and mud, simultaneously. To tackle with such a complex task, a novel amphibious robot (AmphiHex-I) with transformable leg-flipper composite propulsion is proposed and developed. This...
Recognizing the human activities of daily living (ADL) is an important research issue in the pervasive environment. Activity recognition is treated as a classification problem and the multi-class classifier is often used. Though the multi-class classifier can obtain high classification accuracy, it can not detect the noise activities and unknown activities, and the system has no extendable recognition...
A prototype of an intelligent mobility aid, ZJU Walker, is designed to help the elderly walk easily, safely and independently. This paper proposes a control approach based on walking intent to control the motion of ZJU Walker. Walking intent is described in a 3D intent space which consists of directional intent, pace intent and rotary intent. Extraction of walking intent from a user's operations on...
Walking pattern generation has been a crucial issue for humanoid robot. To generate more natural walking patterns, and determine parameters more reasonably, this paper presents a method of walking pattern generation for humanoid based on human walking characteristics. The characteristics of human walking parameters were obtained by capturing and analyzing human walking data. Walking pattern parameters...
This paper presents a humanoid robot BHR-2 capable of performing stepping on and off a flat obstacle of known dimension. The trajectory comprises of two phases for the task completion. The first phase starts with the left foot raised from the ground and reaching the obstacle base tracking the trajectory points generated by spline interpolation. The end of the first phase is the state when both feet...
Walking pattern generation is a main issue for humanoid robot. We have already proposed a method for planning stable walking pattern. Based on this method, this paper mainly discusses generating stable and harmonious walking pattern by considering upper body motion, and planning hip trajectories in both sagittal plane and lateral plane. To reduce the iterative computation cost, some constraints of...
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