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Specific walking velocity, stability and energy consumption (i.e. walking characteristics) can be obtained by adjusting control parameters of complaint actuation which is essential for a passive walking robot to make full use of its own parameters to walk. In this paper, the series elastic actuator is used as the complaint actuator to adjust the walking characteristics. A passive dynamic walking model...
This paper presents a motion planning framework to generate continuous walking gait on a biped robot using kinesthetic teaching. While imitating human leg movement, the generated gait could also track a given swing foot trajectory and a given ZMP trajectory simultaneously, so as to form a stable stride with an expected foot displacement. An algorithm based on local linearization and nonlinear optimization...
Exoskeleton of lower extremity, as a kind of wearable robot, can help people who have walking problems and offer rehabilitation training. In this work, through the analysis of human walking, the mechanical structure of an exoskeleton system was studied. By judging the user's intended movement with the measured pressure of the feet, the exoskeleton system works to assist the user. Then, surface EMG...
This paper proposes a new method of linear inverted pendulum control, which is used to control the quadruped robot walking on regular uneven terrain such as ramp and stair, furthermore, this method can be applied to a more rugged terrain. This paper analyzes the dynamic parameters of a quadruped robot walking on the complex terrain, which means the supporting points of the robot lie in different heights...
Because of the limited space and enormous forces in the human foot, researchers generally simplified the foot as a rigid body in the development of lower extremity exoskeletons and biped humanoid robots, which led to unsatisfying performance on flexibility and auto-stability. In this paper, we propose a novel parallel mechanism with seven degrees of freedom (DOF) to realize the main possible movements...
In this paper, we propose and analyze a Regenerative Magnetorheological Actuator (RMRA) for gait assistance in knee joint. The actuator has motor and magnetorheological (MR) brake parts working in parallel, and can harvest energy through regenerative braking. This novel design provides multiple functions with good energy efficiency. The design of the RMRA is first introduced, and its multiple functions...
Uneven terrain walking is one of the important premises for biped robots to serve people. However, it is one of the key challenges for biped robots walking on a slope. In this paper, a universal method to generate patterns for biped robot walking on a three-dimensional (3D) slope is proposed. Different from most researches, which only focused on the specific walking directions on a slope as across...
To improve the efficiency of multi legged climbing robot, a dynamic climbing gait is proposed for a gecko inspired mechanism with a pendular waist and linear legs (GPL). Then, a mathematical model is built and the kinetics of the climbing gait is illustrated. Trajectory of the waist, identical to centroid of the GPL model, is also discussed in this paper. The forces at the feet of GPL are calculated,...
Stable walking of bipedal humanoid is an crucial and challenge issue of research in bipedal robots. And the structure of shoe sole plays a significant role in preventing someone from slipping in human life. The humanoid robot foot often skid while the robot is walking fast, and it may cause serious harmfulness. This study presents some foot pads for humanoid robot to improve its stability and reliability...
Recently, many researchers have been studying methods for the stepless slip motion of humanoid robots. However, the control mechanism is not clear. In this paper, we propose a simple feedback control method for slip motion based on the forward and backward tilting of the body. We verified this control method by using a life-size humanoid dynamic simulator that was constructed with Open Dynamics Engine...
Social robots can benefit by adding deceptive capabilities. In particular, robotic deception should benefit the deceived human partners when used in the context of human-robot interaction (HRI). We define this kind of robotic deception as a robot's other-oriented deception and aim to add these capabilities to the robotic systems. Toward that end, we develop a computational model inspired by criminological...
The present generation of surgical tools is reliant on drills and cutting tools that cannot navigate through small corners present in complex bones such as the spinal column. This paper summarizes the development of a flexible robotic surgical system to be used in minimally invasive spinal surgery (MISS), targeting the removal of cancerous tissue. The cutting system consists of a flexible drill and...
Two-Step Test is now widely used to evaluate the locomotion ability of human in Japanese biomechanical clinical hospitals. It is a test in which Two-Step Value is calculated by dividing a subject's height by the maximum distance of his/her two steps of walking. The test was developed by Hirano and Muranaga in 2003 to conveniently predict human's walking ability and is shown to have high relations...
Lower extremity exoskeletons are intelligent wearable robots that integrate human intelligence with the strength of humanoid robots. Recently, lower extremity exoskeletons have been developed for rehabilitation and assistance of paralysis patients. This paper presents design of a novel anthropomorphic lower extremity exoskeleton with compatible hip joints and knee joints that help paralysis patients...
This paper presents that support vector machine (SVM) is used to classify three gait patterns: level walking, stair ascent and stair descent based on ground reaction force (GRF). The recognition process consists of three stages: i) a three layers wavelet packet analysis is used for feature extraction, with which squared and standard deviation of decomposition coefficients compose features; ii) with...
The design of the LEESD, a new exoskeleton for old people and patients, is presented in this paper. With one active degree of freedom (DOF) and two passive degrees of freedom, the LEESD can realize human walking gait. The hip joints and knee joints of the LEESD are directly driven by four-bar linkages and all these four-bar linkages are driven by merely one brushless DC motor which rotates at a constant...
This paper presents a modified gait generation method based on height compensation of center of mass (HCCOM) for biped humanoid robots. The method combines natural gait plan (NGP) and 3-D linear inverted pendulum model (3D-LIPM). By analyzing the human natural gait, the HCCOM considers the effect of swinging leg for COM height, so the hip height is no longer fixed and re-planned as a periodic movement...
An in-depth understanding of passive bipedal walking is expected to contribute to the design of energy-efficient bipedal gaits and passivity-mimicking control laws. In this paper we investigate virtual passive bipedal walking in terms of generalized force and kinetic energy, and derive three characteristic equations which describe some essential mechanism of virtual passive bipedal walking and can...
In this paper, we show a novel speeding-up method for limit cycle walking using asymmetric swing-leg motion. Humans skillfully achieve fast dynamic walking on various environments. The swing-leg motions are synchronized with the stance-leg motions in dynamic walking and the trajectories of the swing-leg are asymmetric with respect to the coronal plane. We expect that biped robots achieve fast limit...
For the one-legged robot, a modified SLIP model is studied in this paper and dynamical characteristics of flight phase, impact phase and stance phase in hopping gait are analyzed. A hybrid dynamics correspond to these phases are derived by Newton-Euler Recursive Approach. Through dynamics, the gait planning of stable hopping and different forwarding velocities transition are mathematically described...
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