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Data acquisition from various clinical experiments of posturographic analysis showed lack of evidence regarding a clear influence of postural parameters on subject disorders. This paper advances an investigational method for correlating lumbar spine movements and the sagittal excursions of the human center of mass and center of pressure. Five young healthy females have been simultaneously tested using...
In previous researches on walking on an inclined plane of humanoid robots including the 3D linear inverted pendulum model (3D-LIPM) approach, the humanoid robots were not able to independently modify walking period and sagittal and lateral step lengths without any additional step for adjusting the center of mass (CM) motion. Moreover, the walking on the inclined plane in pitch direction was only considered...
We present a new method to generate biped walking patterns for biped robots on uneven terrains. Our formulation uses a universal stability criterion that checks whether the resultant of the gravity wrench and the inertia wrench of a robot lies in the convex cone of the wrenches resulting from contacts between the robot and the environment. We present an algorithm to compute the feasible acceleration...
The author has proposed a novel method for generating a dynamic gait based on anterior-posterior asymmetric impact posture tilting the robot's center of mass forward. The primary purpose of this method is to asymmetrize the impact posture by actuating the robot's telescopic-legs to make overcoming the potential barrier at mid-stance easy, and the mechanical energy is accordingly restored. We have...
This paper presents a method for mapping captured human motion with stepping to a humanoid model, considering the current state and the controller behavior. The mapping algorithm modifies the joint angle, trunk and center of mass (COM) trajectories so that the motion can be tracked and desired contact states can be achieved. The mapping is performed in two steps. The first step modifies the joint...
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