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The balance has been widely studied over the last decades due to its importance in people independence. This allowed formulating models of human balance strategies. They are mainly based on inverted pendulum dynamical model stabilized with a feedback controller that keeps the Centre of Mass (CoM) within a stable trajectory within the Base of Stability (BoS). When a perturbation is applied the controller...
When executing whole-body motions, humans are able to use a large variety of support poses which not only utilize the feet, but also hands, knees and elbows to enhance stability. While there are many works analyzing the transitions involved in walking, very few works analyze human motion where more complex supports occur. In this work, we analyze complex support pose transitions in human motion involving...
Inspired by geckos, we built a new configuration for climbing robot, the GPL model with one passive waist and four active axil legs. In this paper, further research was made to analysis its motion. We found the anomalies line between supporting feet and its effect on robot motion. A step further, the principia of configuration design and gait planning were proposed based on dynamic analysis. The prototype...
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,...
In this paper we try to investigate the dynamical models' adequacy of Passive dynamic walking robot. For this purpose, we developed a new prototype passive dynamic walking robot which has capabilities of capturing data, and then analyzed its walking behavior by walking experiments.
Human bipedal models behave symmetrically as well as asymmetrically depending upon nature of movement, task and orientation of the body. A bipedal model with full symmetry of limbs and movement is very redundant engineering design which has lots of unstable eigenvalues and poles. To avoid redundancy asymmetry is introduced which imposes coordination and controller design problem. In this paper, we...
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