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In this paper, we derive forward autoregressive models to describe the stochastic process underlying stride interval series related to idiopathic Parkinson's disease. The parameters of the autoregressive model that specify pole locations in the complex z-plane were used as dominant features for the separation of gait series of healthy subjects and patients with Parkinson's disease. Based on the autoregressive...
Real-time response to tipping is essential for a hexapod robot to avoid damaging itself and load when it walks on rough terrains. In this paper, a criterion is proposed combining ZMP and FASM for the judgment of the stability of walking hexapod robots, and an analytical method is applied to determine the reachable workspace of its adjusted-leg and to choose footholds to restore stability based on...
In this article, design of bionic quadruped, mainly focusing on leg design, is given and force analysis of the mechanism is calculated and simulated. To better improve the design, force on sole and torque on joints should be diminished to increase the mobility and capacity of the robot. Therefore, a design method based on biomechanics and bionic control strategy is proposed for this quadruped robotic...
In this paper we present a novel eccentric paddle mechanism (ePaddle) for amphibious robots that can work in terrestrial, aquatic and semi-aquatic environments and perform wheeled, legged and paddling locomotion gaits. The concept of the ePaddle mechanism is discussed firstly and followed by its forward and inverse kinematic models. The ePaddle mechanism brings remarkable locomotion ability to a robot...
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