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In the foot trajectory planning of quadruped robot with active variable stiffness of flexible joint, the existence of the flexible joints makes quadruped robot legs oscillate in swing phase. In this case, this paper proposes a joint stiffness coefficient adjustment strategy and a new foot trajectory generation method. Simulation experiments show that this method can effectively reduce the volatility...
This paper presents a lower limb rehabilitation robot based on free gait and virtual reality, which is intended to improve therapeutic efficacy. With the help of the robot, patients with motor disabilities can walk with free gait in a virtual environment and choose between passive and active training modes. So the impaired limbs can get appropriate exercise in all clinical stages and the motivation...
In this paper, a discrete model of stepping is built based on the discretization of reachable areas. Based on the discrete model of stepping and the state transition rules, the stable state space is constructed and the issue of gait planning is transformed into the reordering problem of states in the stable state space. Then a new free gait generation algorithm is proposed. Through simulation results,...
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