Related papers: Modeling trajectories using functional linear diff…
Biomechanics and human movement research often involves measuring multiple kinematic or kinetic variables regularly throughout a movement, yielding data that present as smooth, multivariate, time-varying curves and are naturally amenable to…
This paper focuses on the analysis of human gait cycle dynamics and presents a mathematical model to determine the torque exerted on the lower limb joints throughout the complete gait cycle, including its various phases. The study involved…
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this…
In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…
The study of animal movement is challenging because it is a process modulated by many factors acting at different spatial and temporal scales. Several models have been proposed which differ primarily in the temporal conceptualization,…
This paper analyses joint-space walking mechanisms and redundancies in delivering functional gait outcomes. Multiple biomechanical measures are analysed for two healthy male adults who participated in a multi-factorial study and walked…
When analyzing animal movement, it is important to account for interactions between individuals. However, statistical models for incorporating interaction behavior in movement models are limited. We propose an approach that models dependent…
Quadrupeds transition spontaneously to various gait patterns (e.g., walk, trot, pace, gallop) in response to the locomotion speed. The generation of these gait patterns has been the subject of debate for a long time. We propose a coupled…
We have developed biped robots with a passive dynamic walking mechanism. This study proposes a compass model with a wobbling mass connected to the upper body and oscillating in the horizontal direction to clarify the influence of the…
The modeling and simulation of coupled neuromusculoskeletal-exoskeletal systems play a crucial role in human biomechanical analysis, as well as in the design and control of exoskeletons. However, conventional dynamic simulation frameworks…
Locomotion of legged machines faces the problems of model complexity and computational costs. Algorithms based on complex models and/or reinforcement learning exist to solve the walking control task. In this project, we aim to develop a…
In this paper, we consider the problem of adapting a dynamically walking bipedal robot to follow a leading co-worker while engaging in tasks that require physical interaction. Our approach relies on switching among a family of Dynamic…
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…
This paper studies bipedal locomotion as a nonlinear optimization problem based on continuous and discrete dynamics, by simultaneously optimizing the remaining step duration, the next step duration and the foot location to achieve…
The problem of biped locomotion at steady speeds is discussed through a Lagrangian formulation developed for velocity-dependent, body driving forces. Human walking on a level surface is analyzed in terms of the data on the resultant…
Human movements are physical processes combining the classical mechanics of the human body moving in space and the biomechanics of the muscles generating the forces acting on the body under sophisticated sensory-motor control. One way to…
Bipeds have demonstrated high agility and mobility in unstructured environments such as sand. The yielding of such granular media brings significant sinkage and slip of the bipedal feet, leading to uncertainty and instability of walking…
Treadmill walking is a convenient tool for studying the human gait; however, a common gait parameter, stride length, can be difficult to calculate directly because relevant reference points continually move backwards. Although there is no…
The biomechanics of the human body gives subjects a high degree of freedom in how they can execute movement. Nevertheless, subjects exhibit regularity in their movement patterns. One way to account for this regularity is to suppose that…
Human walking efficiency relies on the elastic recoil of the Achilles tendon, facilitated by a "catapult mechanism" that stores energy during stance and releases it during push-off. The catapult release mechanism could include the passive…