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Lower limb exoskeletons are being used to assist people with movement disorders during activities of daily living or rehabilitation. However, providing a natural interface that automatically adapts to the patient's movement limitations remains an open challenge. In this paper, we present a control implementation that combines a compliant actuator technology with the concept of tacit learning to improve...
Bipedal robot has many advantages to locomotion in complex environments that wheeled robot cannot achieve. However, because of biped robot's complicated mechanism and the naturally unstable system, it is very susceptible to disturbance from the environment and humans in comparison with wheeled robots. Therefore, the prime task for biped robot walking is to maintain dynamic balance and recover from...
This paper presents a control method for walking assist with hip-mounted exoskeleton robots. For modeling a user's current walking motion, a novel finite state machine is first constructed. We divide a walking cycle uniformly using the inevitable zero crossing events. When state transitions occur, we capture the current walking spatio-temporal sensor data as discrete form. By using the sensed hip...
High feedback gains cannot be used on all robots due to sensor noise, time delays or interaction with humans. The problem with low feedback gain controlled robots is that the accuracy of the task execution is potentially low. In this paper we investigate if trajectory optimization of feedback-feedforward controlled robots improves their accuracy. For rest-to-rest motions, we find the optimal trajectory...
One of the problems in humanoid locomotion generation is energy efficiency. This paper proposes a method for energy efficiency optimization in simple humanoid robot locomotion using single objective genetic algorithm. With the aim to produce walking trajectory system using minimum energy and good stabilization, torque and oscillation analysis are required to calculate the stabilization. The number...
Biped Robots are a class of legged robots, which should work in various environments such as flat or uneven terrain. To walk on different surfaces, it should be adaptable to the variations on the ground with a flexibility in foot movement to maintain its stability. Zero Moment Point (ZMP) is a technique used to ensure dynamic stability. ZMP should be within the support polygon for a robot to be stable...
We present a framework for quadrupedal locomotion over highly challenging terrain where the choice of appropriate footholds is crucial for the success of the behaviour. We use a path planning approach which shares many similarities with the results of the DARPA Learning Locomotion challenge and extend it to allow more flexibility and increased robustness. During execution we incorporate an on-line...
This paper introduces the effectiveness of the body motion for the pace gait of vertical ladder climbing. The pace gait is a symmetrical motion of left side and right side to climb the ladder. As a previous work, we realized the vertical ladder climbing motion; however, it is not stable since the external disturbance is not considered. We add a body motion as an improvement. The external disturbance...
In this work we describe an innovative proprioceptive control architecture for our hybrid legged-wheeled robot ASGUARD. This robot is able to cope with a variety of stairs, very rough terrain, and is able to move with the speed of two body-lengths per second on flat ground. An additional proprioceptive inclination feedback is used to make the same controller more robust in terms of stair-climbing...
For disaster mitigation as well as for urban search and rescue (USAR) missions, it is often necessary to place sensors or cameras into dangerous or inaccessible areas to get a better situation awareness for the rescue personnel, before they enter a possibly dangerous area. Robots are predestined to this task, but the requirements for such mobile systems are demanding. They should be quick and agile...
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