Related papers: Prediction of stable walking for a toy that cannot…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…
In order to safely operate around humans, robots can employ predictive models of human motion. Unfortunately, these models cannot capture the full complexity of human behavior and necessarily introduce simplifying assumptions. As a result,…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
We present a solvable biped walking model based on an inverted pendulum with two massless articulated legs capable of walking on uneven floors and inclined planes. The stride of the two-legged robot results from the pendular motion of a…
It is shown that a compound elastic structure, which displays a dynamic instability, may be designed as the union (or 'fusion') of two structures which are stable when separately analyzed. The compound elastic structure has two degrees of…
Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as flat and stiff pieces of metal, which meets its limitations…
Two different controlling methods are proposed to stabilize unstable continuous-sliding states of a dry-friction oscillator. Both methods are based on a delayed-feedback mechanism well-known for stabilizing periodic orbits in deterministic…
We consider the simplest model of a passive biped walking down a slope given by the equations of switched coupled pendula (McGeer, 1990). Following the fundamental work by Garcia et al (1998), we view the slope of the ground as a small…
Bipedal walking is one of the most important hallmarks of human that robots have been trying to mimic for many decades. Although previous control methodologies have achieved robot walking on some terrains, there is a need for a framework…
This paper provides a comprehensive analysis of stability and long-time behaviour of a coupled system constituted by two rigid bodies separated by a thin layer of lubricant. We show that permanent rotations of the whole system, with the…
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two legs, and passive (unactuated) point feet. The contact between…
Falls during walking are a major health issue in the elderly population. Older individuals are usually more cautious, work more slowly, take shorter steps, and exhibit increased step-to-step variability. They often have impaired dynamic…
Lower-limb prosthesis wearers are more prone to falling than non-amputees. Powered prostheses can reduce this instability of passive prostheses. While shown to be more stable in practice, powered prostheses generally use model-independent…
Robotic interaction in fast-paced environments presents a substantial challenge, particularly in tasks requiring the prediction of dynamic, non-stationary objects for timely and accurate responses. An example of such a task is ping-pong,…
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…
Determination of stability and instability of singular points in nonlinear dynamical systems is an important issue that has attracted considerable attention in different fields of engineering and science. So far, different well-defined…
A distinctive feature of quadrupeds that is integral to their locomotion is the tail. Tails serve many purposes in biological systems including propulsion, counterbalance, and stabilization while walking, running, climbing, or jumping.…
Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scenarios. Despite efforts to dynamic modeling and control…
Experimental evidence is presented connecting small fluctuations in the posture of a quiet standing subject and the probability that the subject will have an accidental fall within a time period of one year. The data can be understood on…
Functional autonomous systems often realize complex tasks by utilizing state machines comprised of discrete primitive behaviors and transitions between these behaviors. This architecture has been widely studied in the context of…