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This paper presents a method for achieving stable “human-like” running in simulation by using human-inspired control. Data from human running experiments are processed, analyzed and split into the two domains: stance phase and flight phase. By examining this data, we present a set of outputs, i.e., functions of the kinematics, which appear to represent human running; moreover, we show that this output...
This paper presents the first steps toward going from human data to formal controller design to experimental realization in the context of underactuated bipedal robots. Specifically, by studying experimental human walking data, we find that specific outputs of the human, i.e., functions of the kinematics, appear to be canonical to walking and are all characterized by a single function of time, termed...
This paper presents an approach to the development of bipedal robotic control techniques for multiple locomotion behaviors. Insight into the fundamental behaviors of human locomotion is obtained through the examination of experimental human data for walking on flat ground, upstairs and downstairs. Specifically, it is shown that certain outputs of the human, independent of locomotion terrain, can be...
Although current humanoid controllers can rely on inverse kinematics or dynamics of the full humanoid system, powered prosthetic legs or assistive devices cannot, because they do not have access to the full states of the human system. This limitation creates the need for alternative control strategies. One strategy is to embed fundamental knowledge about legged dynamics and control in local feedback...
This paper presents a method to determine outputs associated with human walking data that can be used to design controllers that achieve human-like robotic walking. We consider a collection of human outputs, i.e., functions of the kinematics computed from experimental human data, that satisfy criteria necessary for human-inspired bipedal robot control construction. These human outputs are described...
In this paper, we present a method for emulating human walking motions with leg impairments or disabilities using humanoid robots. Our optimal dynamic multi-contact motion software generates the emulated motions. We take into account the full-body dynamic model of the robot and consider possible leg impairments as additional physical constraints in the optimization problem. The proposed approach is...
While humanoid feet are made of rigid plates, human feet have evolved into highly articulated and flexible elements. This adaptiveness provides key advantages. It absorbs impacts and secures grip when interacting with the environment. However, the human foot design potentially increases the energetic cost, because it features actuators and provides less power transfer than a rigid plate does. Here...
During walking and running, passive foot prostheses can only do positive work by releasing elastic energy stored in compliant structures. This limited ability to generate positive work can be improved in devices which actively support the push-off. Here, we estimate the peak power and energy requirements of a simulated serial elastic actuator (SEA) for walking and running and compare it with a direct...
Motion capture is a good source of data for programming humanoid robots because it contains the natural styles and synergies of human behaviors. However, it is difficult to directly use captured motion data because the kinematics and dynamics of humanoid robots differ significantly from those of humans. In our previous work, we developed a controller that allows a robot to maintain balance while tracking...
In the field of pet robots and robot-assisted therapy (RAT), characterization of animal motion is important for the development of robots resembling various animals. This paper presents a method for the generation of animal gait in quadrupedal robots. In this study, we employed AIBO as an experimental quadrupedal robot and generated the gait of the robot on the basis of an animal's gait. In the previous...
This paper discusses an analytical model of gait dynamics for providing meaning and insight into the neural control of locomotion. The multi-level neural control system produces a stable gait and a highly consistent walking pattern when the neuro-mechanical system is functioning properly. The motor control involves a series of transformations of information, hence the control problem revolves around...
The influence of ankle compliance on bipedal robot locomotion is investigated in this paper. The focus is on reduction of energy consumption. The concept of hybrid zero dynamics is adapted to design walking gaits with three phases: underactuated heel roll, full actuation and underactuated toe roll. Ankle springs work in parallel with the ankle actuators. Stiffness and offset of the linear torsional...
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