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Bipedal locomotion is a phenomenon that still eludes a fundamental and concise mathematical understanding. Conceptual models that capture some relevant aspects of the process exist but their full explanatory power is not yet exhausted. In…
Although ankle injuries resulting from postural instability are frequently observed during high-speed and intense physical activities, most current research has been limited to static or quasi-static models of the lower limb, or has focused…
The dynamics of a rigid, rotating, precessing, massive ring orbiting a point mass within the perimeter of the ring are considered. It is demonstrated that orbits dynamically stable against perturbations in three dimensions exist for a range…
A class of planar bipedal robots with unique mechanical properties has been proposed, where all links are balanced around the hip joint, preventing natural swinging motion due to gravity. A common property of their equations of motion is…
This survey paper deals with the stabilization of nonlinear systems by analyzing the controlling method in terms of state feedback and output feedback. A brief overview of some literature on how the feedback controller of some dynamic…
Animals achieve robust locomotion by offloading regulation from the brain to physical couplings within the body. In contrast, locomotion in artificial systems often depends on centralized processors. We introduce a rapid and autonomous…
In the paper, a mathematical model assembling a "driver - mobile vehicle - road environment" system and capable of simulating the process of mobile vehicles skid in traction movement mode is proposed. The usage of non-linear drift models…
This paper presents a modular approach to motion planning with provable stability guarantees for robots that move through changing environments via periodic locomotion behaviors. We focus on dynamic walkers as a paradigm for such systems,…
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…
Uneven terrain necessarily transforms periodic walking into a non-periodic motion. As such, traditional stability analysis tools no longer adequately capture the ability of a bipedal robot to locomote in the presence of such disturbances.…
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…
Generating robust locomotion for a humanoid robot in the presence of disturbances is difficult because of its high number of degrees of freedom and its unstable nature. In this paper, we used the concept of Divergent Component of…
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…
From the mesoscopic point of view, a new concept of soft matching for mass points is proposed. Then a soft Lasso's approach to learn the soft dynamical equation for the physical mechanical relationship is proposed, too. Furthermore, a…
The control of bipedal robotic walking remains a challenging problem in the domains of computation and experiment, due to the multi-body dynamics and various sources of uncertainty. In recent years, there has been a rising trend towards…
Humans excel at robust bipedal walking in complex natural environments. In each step, they adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to be robust against uncertainties in ground conditions.…
We establish stability results for PD tracking control laws in bipedal walking robots. Stability of PD control laws for continuous robotic systems is an established result, and we extend this for hybrid robotic systems, an alternating…
This paper presents a model-based balance stabilization system which takes into account not only the stable part of COM dynamics but also the unstable part. In this system, the overall dynamics of a humanoid robot is approximated using a…
The application of biomechanic and motor control models in the control of bidedal robots (humanoids, and exoskeletons) has revealed limitations of our understanding of human locomotion. A recently proposed model uses the potential energy…
Learning-based approaches have recently shown notable success in legged locomotion. However, these approaches often lack accountability, necessitating empirical tests to determine their effectiveness. In this work, we are interested in…