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This paper presents an 3D algorithm to estimate the motion trajectory of a four legged sliding robot considering the ground friction coefficient and the payload distribution at leg ends during walk on a flat ground including ascending or descending slopes. We formulate mathematical expression for estimating energy cost of motion utilizing the principle of virtual work under the condition where the...
Biomechanical experiment method has been widely used in research for the mechanical properties of pelvic acetabulum. Loading jig is a very important part in the studies. Yet, few articles did intensive studies about the jig. In this paper, a kind of new loading jig, which is more analogical with physiological orthostatism of the pelvic, is being introduced and some biomechanical experiments have been...
Stable walking conditions are reinforced for sliding & wheelspin of robot. Deduced ZMP formula based on jerk which is introduced by 3 ranks Taylor formula. Parametric surface table cart model used for dynamics is proposed. Rapid walking pattern of biped robot is generated based on parametric surface table cart model. Finally, dynamics simulation of the 3-D virtual prototype of the biped robot...
In this paper we summarize some basic principles of legged locomotion in animals and then discuss the application of the principles to the design and fabrication of a four-legged robot. The here presented model combines ideas for better locomotion of robots both in the biologically inspired, mechanically intelligent structure and in the bionic controller. The movement of the legs is triggered by bionic...
In this paper, a 3-DOF parallel mechanism which is wearable for human hip joint power assist is proposed. Different from the conventional power assist system, the proposed wearable parallel mechanism is formed by both mechanical links/joints and human bones/joints. Considering the anatomical mechanism of human hip joint, the 3-DOF wearable system consists of two connected modules, the 3-DOF hip joint...
This paper proposes motion instruction system with the interactive robot suit HAL (hybrid assistive limb) for supporting physically challenged persons, enhancing and expanding the human ability. HAL consists of external frames, actuators, various sensors, and a control PC with ethernet device and has not only been developed to assist the motion of wearer's body, but also can be applied to motion instruction...
The function of the locomotor system in human gait is still an open question. Today robot bipeds are not able to reproduce the versatility of human locomotion. In this article a robotic knee joint and an experimental setup are proposed. The leg function is tested and the acquired data is compared to human leg behaviour in running observed in experiments.
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...
The advent of the super aged society and decline in earning power makes it critical to develop technologies that can support the limitations of our human abilities. We have developed Robot Suit HAL to support human physical capabilities. A wearable robot expected to work in human society is required to have a high structural safety, with a tough and compact structure and a human outline. To achieve...
In traditional strategy based on Center Pattern Generator (CPG), stance phases and swing phases are always fixed and their durations equal to each other approximately. Few CPG models care about the control of the knee joints under quadrupeds. In view of these deficiencies, this paper presents a model which is used to generate trajectories both for hips and for knees. The model has two desirable properties...
This paper presents an adaptive control system of central pattern generators (CPG) made of a network of mutually coupled Van Del Pol nonlinear oscillators. The CPG based controller is used to generate stable rhythmical locomotion trajectories. With the sensorial information feedback, a novel adaptive control strategy is implemented to help a quadruped robot with only two rotary Degrees Of Freedom...
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...
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