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the principle and control method of torso orientation in dynamic biped walking is addressed. First, the role of torso motion in walking performance, especially at the landing moment, is investigated by using a simplified model. Second, a control strategy of torso orientation is proposed, including the algorithms in the push-off and the single support phases (SSP). Furthermore, the module of torso...
Up to now, many robotic aids for the elderly's walking support or the disabled's walking rehabilitation are reported, and numerous electrical-powered wheelchairs are developed. In this paper, a new kind of omnidirectional wheelchair typed robot is developed. The robot not only can accomplish the walking support or walking rehabilitation as the elderly or the disabled walking, but also can realize...
Up to now, many robotic aids for the elderly's walking support or the disabled's walking rehabilitation are reported, and numerous electrical-powered wheelchairs are developed. In this paper, a new kind of omnidirectional wheelchair typed robot is developed. The robot not only can accomplish the walking support or walking rehabilitation as the elderly or the disabled walk, but also can realize the...
In this paper, a new type of omnidirectional mobile robot is developed, that not only can be used for the elderly's walking support, the disabled's walking rehabilitation, but also can be used for a caregiver's power assistance when he/she pushes the robot to move while the elderly or the disabled is sitting in the seat. The omnidirectional mobility of the robot is analyzed, and an admittance based...
One of the main challenges in the control of biped walking is to translate the understanding from human walking to robot walking. In this paper, firstly, some key principles of biomimetic walking are investigated. A novel two-point gait is proposed according to the structure of human feet and the characteristics of human walking. And the influence of length variation of stance leg on walking efficiency...
One of the main challenges in the control of biped walking is to translate the understanding gained from passive walkers to active systems. In this paper, an active/passive hybrid walking control method is studied. Firstly, a two-point walking pattern is proposed according to the structure of human feet and the features of human walking. Secondly, the energy cycle of the proposed walking pattern is...
In this paper, we proposed a new concept for omnidirectional mobile robot that not only can fulfill the walking support or walking rehabilitation for the elderly or the disabled, but also can realize power assistance for the caregiver when he/she holds the robot handle to move the robot while the elderly or the disabled is sitting in the seat. We postulated four necessary functions the robot should...
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