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This paper presents the issues encountered in the development of a robot based on the biometric influence of a bear. One of the main aims of this research was to explore the possibilities of a robot, which could move between the different styles of motion. The bear offers a unique example of an animal with high mass and bulk, which can move between being a quadruped and a biped. Our earlier research...
Ankle-foot orthoses (AFOs) are orthotic devices supporting movements of ankles of disabled persons for example hemiplegia, polio, peroneal nerve palsy, etc. In our previous research, we developed some kinds of passive controllable AFO which can control ankle torque with Compact Magnetorheological fluid brakes. One of the remarkable key points of its control is damping control at initial contacts....
This paper suggests the new approach for reducing energy consumption during the walking cycle of the biped robot. After the stable walking trajectory is manually designed, the trajectory can be modified to reduce the energy consumption and increase walking stability based on the measured angular velocities of the robot during the walk combined with the dexterity information from the manipulability...
In previous researches, most of biped robots have walked with their knees bent. However, a human walks without bending his or her knees, which defines ldquonaturalrdquo gaits. This is one of the significant differences between human locomotion and biped robot locomotion. This paper proposes a method to generate natural locomotion trajectory without bending knees but based on using a 2-DOF model of...
This paper proposes a real-time foot attitude estimation approach consists of a foot attitude acquisition and an auto-calibration method. First, overview of the foot attitude estimation system is presented, including a tri-axis MEMS accelerometer, three angular rate gyroscopes and a data acquisition and processing unit. Then, the arithmetic of data processing and attitude acquisition is introduced...
Passive-dynamic walkers are mechanical devices that walk down a slope without motors or controllers. In this paper we present in detail the incremental development of one such walker, the design stages we went through and its experimental results. We built a four-legged planar passive-dynamic walking machine with its inner and outer legs connected rigidly two by two, making it equivalent to a biped...
The purpose of this study is to develop a methodology that enables a humanoid robot to imitate a whole body motion of a human. In the communication and interaction with a human being with motions and gestures, a humanoid robot needs not only to look like a human but to behave as a human does to make sure the meanings of motions and gestures. To act like a human, the humanoid robot has to imitate the...
Interaction control is an important aspect in rehabilitation robots to ensure system safety and allow effective rehabilitation. Due to the significant variability of human limb and joint characteristics, adaptability in the interaction controller is vital for enabling the adjustment of robot behavior to better suit the patient's requirements. A parallel manipulator has been developed for ankle rehabilitation...
This paper describes the intelligent foot with six-axis force/moment sensors for humanoid robot. The developed humanoid robots have not gotten intelligent feet for walking safely. In order to walk on uneven surface safely, the robot should measure the reaction forces and moments applied to the soles of the feet, and they should be controlled with the measured the forces and moments for his weight...
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