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This paper presents an approach to the development of bipedal robotic control techniques for multiple locomotion behaviors. Insight into the fundamental behaviors of human locomotion is obtained through the examination of experimental human data for walking on flat ground, upstairs and downstairs. Specifically, it is shown that certain outputs of the human, independent of locomotion terrain, can be...
This paper presents a method to determine outputs associated with human walking data that can be used to design controllers that achieve human-like robotic walking. We consider a collection of human outputs, i.e., functions of the kinematics computed from experimental human data, that satisfy criteria necessary for human-inspired bipedal robot control construction. These human outputs are described...
A method is proposed which enables testing of prosthetic devices in simulation. A hybrid model is used to represent human walking—the combination of continuous and discrete dynamics motivates the use of hybrid systems. A human walking experiment is analyzed and mathematical functions on the kinematics of the collected data are found which capture some of the fundamental behaviors associated...
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