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Powered transfemoral prostheses are robotic systems that aim to restore the mobility of transfemoral amputees by mimicking the functionalities of healthy human legs. The advantage of using a powered prosthetic device is the enhanced performance on various terrains. One of the most frequent terrain found during daily locomotion (other than flat ground) is the surface with slope. In this work, we introduce...
Parametric excitation walking is one of methods that realize a passive dynamic like walking on the level ground. In parametric excitation walking, up-and-down motion of the center of mass restores mechanical energy and sustainable gait is generated. Walking ability and walking performance strongly depend on the reference trajectory of the center of mass. In this paper, we propose an optimization method...
In the problem of humanoid robot stepping over dynamic obstacle in the sagittal plane, the duration, the length of the step, and the maximum step height of the biped robot are key factors which influence successful obstacle avoidance. In this paper, an approach of footstep planning for biped robot has been presented. Fuzzy Q-Learning algorithm has been developed to learn these crucial parameters....
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