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Recent research on mobile robots is focused on locomotion in various environments. In this paper gait generation algorithm for a mobile robot that can locomote from ground to wall and climb vertical surfaces is proposed bio-inspired by a gecko lizard. The gait planning is based on the inverse-kinematics with the Jacobian of whole body, where the redundancy is solved by defining an object function...
Environmental adaptability plays an important role for humanoid robots to expand their applications. Based on force and torque information during foot-ground contact, this paper presents a strategy for humanoid robots to modify preplanned walking pattern by using foot-ground equivalent contact control. Firstly, swing foot landing course is described, then several representative foot-ground contact...
The authors introduce a fuzzy rule-based algorithm to evaluate the activation patterns of muscles of the lower limb with respect to the gait phases during normal human walking. A relational matrix was established as a Cartesian product between the activation behaviors of muscles of the lower limb within the seven gait phases during normal walking. This relational matrix is an expression of the strength...
Falls are among the most frequent occasions happening on elderly. Moreover, falls can cause fatal effect on them. One of the issues related to elderly health, which can incur falls, is the gait characteristics. Thus, it will be useful to set up a monitoring system for home-use to detect the gait characteristics of the elderly. With this daily monitoring system, the changes in gait characteristics,...
The anisotropy of dry adhesion increases the efficiency of climbing animals when sticking to different surfaces because less energy is required to detach their feet when compared with isotropic adhesion mechanisms. To replicate this functionality, a synthetic anisotropic dry adhesive has been fabricated using elastomer fibers with offset caps. This paper presents the properties validation of a designed...
The subject of this paper is the design, analysis and control of a biped line walking robot for inspection of power transmission lines. The novel mechanism enables the centroid of the robot concentrate on the hip joint to minimize the drive torque of the hip joint. The line-walking cycle of the designed mechanism is composed of a single-support phase and a double-support phase. During the process...
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...
A humanoid robot should be able to keep balance under unexpected disturbance, and can take three strategies, i.e. ankle strategy, hip strategy and step strategy, to recover balance from biomechanics research. In this paper, the relationship between limited joint torque and balance recovery strategy is analyzed using Zero moment Point Manipulability Ellipsoid. Furthermore, during balance control, the...
We adopt multi-point planning method based on cubic spline function to perform parametric design of dynamic walking. The objective of optimization is to achieve maximum ZMP stability and minimum joint driving torque, together with the combination of multi-objective genetic algorithm to optimize the gait parameters. Simulation verification has also been carried out in ADAMS and Matlab after optimization...
The ankle represents one of the most complex bone structures in human body and the overall ankle motion is therefore complicate. In addition, motion analysis of ankle is a key issue in ankle rehabilitation and in developing an ankle rehabilitation device. Based on the analysis of the structure of ankle and its motion, this paper proposed two types of motion modes of ankle, according to the modes,...
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