相关论文: Data-Driven Gait Segmentation for Walking Assistan…
Existing studies for gait recognition are dominated by in-the-lab scenarios. Since people live in real-world senses, gait recognition in the wild is a more practical problem that has recently attracted the attention of the community of…
This paper seeks insight into stabilization mechanisms for periodic walking gaits in 3D bipedal robots. Based on this insight, a control strategy based on virtual constraints, which imposes coordination between joints rather than a temporal…
In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been limited to relatively…
Previous gait phase detection as convolutional neural network (CNN) based classification task requires cumbersome manual setting of time delay or heavy overlapped sliding windows to accurately classify each phase under different test cases,…
Human gait, which is a new biometric aimed to recognize individuals by the way they walk have come to play an increasingly important role in visual surveillance applications. In this paper a novel hybrid holistic approach is proposed to…
Gait phase-based control is a trending research topic for walking-aid robots, especially robotic lower-limb prostheses. Gait phase estimation is a challenge for gait phase-based control. Previous researches used the integration or the…
With rapid advancements in exoskeleton hardware technologies, successful assessment and accurate control remain challenging. This study introduces a modular sensor-based system to enhance biomechanical evaluation and control in lower-limb…
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…
Elderly gait is a source of rich information about their physical and mental health condition. As an alternative to the multiple sensors on the lower body parts, a single sensor on the pelvis has a positional advantage and an abundance of…
A Hybrid passive Linear Inverted Pendulum (HLIP) model is proposed for characterizing, stabilizing and composing periodic orbits for 3D underactuated bipedal walking. Specifically, Period-1 (P1) and Period-2 (P2) orbits are geometrically…
A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as "global-position tracking". This paper introduces a nonlinear…
Gait synchronization in pedestrians is influenced by biomechanical, environmental, and cognitive factors. Studying gait in ecological settings provides insights often missed in controlled experiments. This study tackles the challenges of…
This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs and visually impaired people. We address…
We will report our efforts in designing feedback for the thruster-assisted walking of a bipedal robot. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the desired joint trajectories to satisfy the…
Background: Many attempts to validate gait pipelines that process sensor data to detect gait events have focused on the detection of initial contacts only in supervised settings using a single sensor. Objective: To evaluate the performance…
The applicability of Doppler radar for gait analysis is investigated by quantitatively comparing the measured biomechanical parameters to those obtained using motion capturing and ground reaction forces. Nineteen individuals walked on a…
This survey paper concerns Sensor Fusion for Predictive Control of Human-Prosthesis-Environment Dynamics in Assistive Walking. The powered lower limb prosthesis can imitate the human limb motion and help amputees to recover the walking…
Walking is one of the most common modes of terrestrial locomotion for humans. Walking is essential for humans to perform most kinds of daily activities. When a person walks, there is a pattern in it, and it is known as gait. Gait analysis…
Safe navigation in real-time is an essential task for humanoid robots in real-world deployment. Since humanoid robots are inherently underactuated thanks to unilateral ground contacts, a path is considered safe if it is obstacle-free and…
Dynamic bipedal walking on discrete terrain, like stepping stones, is a challenging problem requiring feedback controllers to enforce safety-critical constraints. To enforce such constraints in real-world experiments, fast and accurate…