The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Most humanoid robots walk with bent knees, which particularly requires high motor torques at knees and gives an unnatural walking manner. It is therefore essential to design a control method that produces a motion which is more energy efficient and natural comparable to those performed by humans. In this paper, we address this issue by modeling the virtual spring-damper based on the cart-table model...
In this study we discuss two-segment leg's parameters, torsional stiffness, knee angle, and link ratio, for a biologically inspired terrestrial robot with four legs. Each leg has two-segment links and a passive joint. Simulation results then verify soft leg's effectiveness compared to a robot with stiff legs.
A system to restore walking in the vicinity of a wheelchair for people with paraplegia resulting from spinal cord injury is under development. The approach combines single channel surface electrical stimulation with an orthosis. The orthosis is spring loaded and contains a pneumatic system that stores energy during knee extension caused by quadriceps stimulation and transfers it to hip joint for hip...
This paper presents and experimentally demonstrates a control approach for actuated dynamic walking in biped robots. Rather than utilizing trajectory tracking, we proposed a control approach which employs state dependent control torques generated by low-gain spring-damper couples to encourage patterned motion of the robot. In order to verify that the control idea provides natural looking (human-like)...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.