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Patients with hemiparesis have difficulties maintaining their balance. These skills can be regained with the aid of external motors and using a microcontroller to control the actuation of the motors. A biped robot with servo motors attached at each joint is fabricated. A clay model of the paralytic leg is made and attached to the hip of the body and the other leg of the biped is modelled as a 3-DOF...
This paper presents a method for generating intelligent upright biped stepping motions for real-time dynamic environments. Our approach extends the inverted pendulum (IP) model by means of an impulse-based technique to achieve rigid-leg constraints during foot support transitions. The impulse-based method in cooperation with the IP method provides a computationally fast, straightforward, and robust...
In this paper, we present a balance control strategy for a walking biped robot in an unexpected external applied force. We assume that a sudden lateral and longitudinal force could be applied at the center of the pelvis of the biped robot during walking with a walking trajectory which is predesigned in advance by considering the energy-efficiency. With this situation, an balance control strategy is...
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