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This paper addresses the development of a dynamics simulator that for a biped robot on loose soil. Especially, the paper focuses on the method of sinkage calculation which is one of the characteristics for walking on loose soil. The calculation algorithm is changed dynamically according to the support condition of the legs. Considering ground projection of center of mass (GCoM) as a center of rotation...
There are types of walking robots using wheels with their legs. Among those, the robots with passive wheels generate propulsive force by specially designed periodic leg motions. The authors had proposed to use a special axle mechanism that can change its curvature to track a designed path for propulsion. The mechanism showed not only straightforward motion but also curved motion and pivoting motion...
The motion of a passive-type intelligent walker is controlled based on visual estimation of the motion state of the user. The controlled walker would be a support for standing up and prevent the user from falling down. The visual motion analysis detects and tracks the human upper body parts and localizes them in 3D using a stereovision approach. Using this data the user's state is estimated to be...
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