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Gait parameters play a significant role in the locomotion of a hexapod walking robot used for different goals. Stride length and frequency are the two most important and useful gait parameters of hexapod robots. This paper presents the configuration of a hydraulic hexapod walking robot. The typical gaits of hexapod robot are introduced and the kinematic model of the robot is established. Four performance...
This paper proposes a fundamental study and detailed investigation about the insole touch area of plantar pressure to be considered as a reference measurement for all researchers that study any location over the insole area. A 101 pressure sensor positions, that number represents the most covered area of the insole, these 101 locations were investigated in this work to find out the variation limits...
Many bio-inspired robots have been developed. Generally, these robots can drive in one environment. It is hard to drive in multiple environments. Therefore, in this study, we developed a robotic platform that can drive in two environments: on the water and the ground. We made a hexapedal robotic platform and analyzed its locomotion when the robot drove on the water and the ground. This analysis considered...
Slip and fall is one of the major causes for human injuries for elders and professional workers. Real-time detection and prediction of the foot slip is critical for developing effective assistive and rehabilitation devices to prevent falls and train balance disorder patients. This paper presents a novel real-time slip detection and prediction scheme with wearable inertial measurement units (IMUs)...
Recognition of people based on their way of movement is one of the most interesting issues of behavioural biometrics. Among the basic characteristics of each biometric system is accuracy. It is currently considered that greater accuracy of biometric can be achieved by ensemble of two and more classifiers. The aim of this study is to present our own method for the usage of ensemble classifiers in the...
This research presents a novel numerically efficient method for calculating the Zero Moment Point (ZMP) of a bipedal walking robot, with a perspective of analysing its stability. In this context, a 1-DOF (ankle) structure has been constructed to resemble a robotic leg, with the force sensitive resistors (FSR) attached on its sole. By obtaining the sensory readings, ZMP has been calculated and analysed...
Collapsible leg spines found on insects and spiders provide a passive mechanism for increased traction while running over complex terrain. In this paper we use this architectural advantage as biological inspiration to increase the useful work in pulling a load with a VelociRoACH, a high speed terrestrial robot. These spines exhibit anisotropic properties in the fore-aft and lateral directions, with...
Slip is the major cause of falls in human locomotion. We present a new bipedal modeling approach to capture and predict human walking locomotion with slips. Compared with the existing bipedal models, the proposed slip walking model includes the human foot rolling effects, the existence of the double-stance gait and active ankle joints. One of the major developments is the relaxation of the nonslip...
In our previous work, we introduced a new gait for humanoid robots called Ski-Type walking to improve stability performance for rough terrain walking. By the arms holding two canes to assist walking, the humanoid robot benefits from enlarged stability margin. With canes and feet touching the ground, a closed-chain system is formed where force/torque distribution among the canes and feet is not unique...
This paper presents a proposed Proportional and Derivative (PD)-like Fuzzy Logic Control (FLC) (PD-FLC) on dynamic control for vertical positioning of Hexapod Robot walking on seabed environment. The study has been carried out by modelling the buoyancy force following the restoration force to achieve the drowning level according to Archimedes' principle. The restoration force need to be positive in...
This paper proposes a momentum-based balancing controller for robots which have non-rigid contacts with their environments. This controller regulates both linear momentum and angular momentum about the center of mass of the robot by controlling the contact forces. Compliant contact models are used to determine the contact forces at the contact points. Simulation results show the performance of the...
This paper presents the design of a locomotion interface for gait simulation and interaction with a virtual environment. The proposed mechanical interface is based on two planar two-degree-of-freedom belt-driven mechanisms which fully decouple the vertical and horizontal motion of two supporting footplates. Force sensors are mounted under the footplates in order to move the end effectors according...
The World Health Organization reports more than 135 million people globally suffer from diabetes, with 25% developing peripheral neuropathy and estimates the numbers living with diabetes will reach over 300 million by 2025. Peripheral neuropathy is a term used to describe the loss of feeling in the peripheral limbs. If not properly managed, amputation of the lower limbs can be the result. Regular...
This paper describes a gait control based on variable compliance for a biped robot walking on uneven terrain. The variable compliance changes the stiffness using the zero moment point for each sole and the three-dimensional zero moment point of the vertical ground reaction force. This paper also describes the postural stability control method of the robot, which obtains the depth map and uses the...
The paper presents a recovery control method based on visually estimated foot sole floating angle for biped walking robots. By using visual scene recognition through image processing, the floating angle of foot sole can be indirectly estimated, and that means the critical state of falling-down motion is able to be detected without force sensation. According to estimated foot sole floating angle, the...
In order to determine the gender differences in gait pattern during load carriage, 6 male and 6 female construction workers performed load carrying activity for four different load conditions. The loads included a baseline condition in which subject carried no added load. Subjects walked at self-selected speed along the walk way stepping two Kistler Force Plates with load and without load for 15 minutes...
One of the goals of much virtual reality (VR) research is to increase realism. In particular, many techniques for locomotion in VR attempt to approximate real-world walking. However, it is not yet fully understood how the design of more realistic locomotion techniques affects user task performance. We performed an experiment to compare a semi-natural locomotion technique (based on the Virtusphere...
Force Sensitive Resistors (FSRs) are used for kinetic evaluation of human gait by measuring under foot pressures during gait. FSRs from different manufacturers, with variation in morphologies and loading capacities were selected in past research projects. However a functional comparison of different FSRs and options on how to choose them for gait analysis is not established yet. In this work, investigation...
While dynamically stabilized walking has many solutions already, new approaches are still possible. Described method shows combined techniques to reach efficient walk stabilization of Nao robot in RoboCup soccer simulation.
Electronic devices (PCs, smart phones, etc.) are ubiquitous in the world and the convenience in users' input has become increasingly important for their extensive applications. Disabled armless people are also in need of a novel input interface for a better life. In this paper, we present our research on a wearable sensor-integrated shoe system as a writing platform, by sensing and analyzing the foot...
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