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Currently, research on a jumping robot has been actively conducted in the Robotics field. In this paper, we propose a linkage structure of the jumping robot leg. The trajectory and take-off angle are simulated by using a free software, LINKAGE program. Also, we introduced the two types of the propulsion structure.
In this paper, a new control method for walking in-pipe robots is discussed. The method is based on a combination of a linear quadratic regulator for systems with explicit mechanical constraints and a proportional-derivative controller formulated in terms of end effector coordinates (Cartesian coordinates of the robot's foot that takes the step). The performance of the proposed method is measured...
In this study, the mechanical model of the electronically controlled knee prosthesis is developed, forward and inverse kinematic analyses are performed, and trajectory tracking for joint space is obtained, respectively. The analyses were carried out considering a cycle of gait walking at a constant speed. Thus, position, velocity and acceleration data of the prosthesis of joint space required for...
Generating a walking pattern for a legged robot is not an easy task. In the literature there are different proposed approaches: mathematical, model-based and bioinspired methods in order to generate such walking patterns for legged robots. In this article we present the K3P algorithm, conceived to command a robotic legged platform to travel along an arbitrary trajectory, using the velocity of the...
In this paper, we present a general quadruped locomotion planning method for traversing unstructured terrain. Novel features of our method include the procedure that a body trajectory optimizer based on the Zero Moment Point (ZMP) stability criterion and Linear Inverted Pendulum Model (LIPM). The ZMP trajectory optimizer can be applied to any legged robot which can be approximated by the LIPM model...
This paper presents the biological control for a radially free distributed hexapod robot. The CPG(central pattern generators) network consists of six CPG units based on Hopf neural oscillator that used to generate rhythmic oscillatory signals for the end trajectories of legs. The ring-type network topology of CPG network that consists of six CPG units is established. By computing the inverse kinematics,...
The paper treats a class of human walking robots, the athlete robot (AR). The dynamic equations of this model are generated by Euler Lagrange method as a multi-input-multi-output under-actuated model. The balancing control on one leg in the stance phase is studied. The hierarchical sliding mode control algorithm is proposed. Numerical simulations show the method efficiency.
Geomagnetism is promising for indoor localization due to its pervasive presence, high signal stability and unnecessity of extra infrastructure support. It can be fused with a pedometer (step counter) to further improve accuracy. Traditional fusions based on particle filter, however, are computationally complex. Their accuracy is barely satisfactory for large open indoor spaces (such as airports or...
Many wearable robots are not fully capable of fitting the motion of the wearer, owing to their limited degrees-of-freedom (DOF). This limitation disturbs motions such as corner curving, which are required in daily life. In this study, the effect of the DOF restriction on the corner curving motion was observed and analyzed. The gait motions, when curving a round corner with and without the restriction...
Gait training is one of main means of rehabilitation of lower limb disfunction. Nevertheless, the promotion of clinical gait training is inhibited by the professional skill and labor consumption of physiatrist. It is with great practical value to design an automatic rehabilitation equipment which could increase the effectiveness and quality of training progress, meanwhile reduce labor costs. In this...
In recent years average life expectancy in developed countries has increased, hence the amount of people which depend on a wheeled walking frame and in addition are visually handicapped has grown. The independent mobility of this people is often limited since they need guidance by other humans. Recent research focused on technical guidance systems implemented on a walking frame. The mobile vehicle...
In this study, we propose an on-line learning system of gait pattern for a wearable robot to assist walking. In our learning system, the cost function is defined by the sum of the measured arm loading force of a user and the power consumption of the motors during walking. We confirmed that the arm loading force decreased with little change of power consumption by using the proposed algorithm.
A lot of research about using animal walking patterns on quadruped robots such as cheetah, cats and others. The big problem is about how to make this fourlegged robot run fast and maintain stability. The instability of the robot makes visual sensors such as Camera, Thermal sensor and various sensors used to get significant disturbance. With this problem, this paper made a system in the form of Walking...
In this paper, a strides detection algorithm is proposed using inertial sensors worn on the ankle. This innovative approach based on geometric patterns can detect both normal walking strides and atypical strides such as small steps, side steps and backward walking that existing methods struggle to detect. It is also robust in critical situations, when for example the wearer is sitting and moving the...
Wearable robots are regarded as a new transportation system in daily living for complete paraplegics due to spinal cord injury (SCI). For the motion control of a wearable robot, the normal gait pattern of people without disabilities is often applied as a reference input. When the natural dynamics of the human body can be utilized and the displacement of center of gravity (CoG) is possible, the normal...
This paper analyzes the control of a mobile robotic system that utilizes a serpentine robotic tail to assist in the maneuvering and stabilization of quadrupedal locomotion. The goal of this research is to reduce the design and control complexity required in the robot's legs by providing a separate mechanism to help the mobile robot steer and recover from disturbances. The design and dynamic models...
Hybrid zero dynamics-based control is a promising framework for controlling underactuated biped robots and powered prosthetic legs. In this control paradigm, stable walking gaits are implicitly encoded in polynomial output functions of the robot configuration variables, which are to be zeroed via feedback. The biped output functions are parameterized by a suitable mechanical phasing variable whose...
In this paper, we propose the novel gait trajectory adaptation method applicable to an exoskeleton for strength augmentation. The proposed method consists of the online positive feedback trajectory adaptation method and the swing phase duration adaptation method. The swing test results of an exoskeleton prototype showed that the proposed method is more adaptable to the change of the trajectory amplitude...
This paper presents the gait design and comparison study of a quadruped robot. The main contributions of this paper are: (i) Explore the modularized system design of an 8 degree-of-freedom quadruped robot with a power management system. (ii) Propose a gait design method based on drive function. (iii) Propose another gait design method based on foot trajectory. (iv) The simulation of the walk and trot...
Indoor location services (LBSs) have attracted a great deal of attention in recent years, the user's indoor trajectories play an important role in LBSs. In this paper, we combine pedestrian dead reckoning (PDR), human activity recognition (HAR) and landmarks to achieve a good accuracy for indoor localization. The core idea of our research is using PDR to estimate the user's location, and the cumulative...
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