相关论文: Postural Stability in Human Running with Step-down…

Despite extensive studies on motion stabilization of bipeds, they still suffer from the lack of disturbance coping capability on slippery surfaces. In this paper, a novel controller for stabilizing a bipedal motion in its sagittal plane is…

Falls affect a growing number of the population each year. Clinical methods to identify those at greatest risk for falls usually evaluate individuals while they perform specific motions such as balancing or Sit-to-Stand (STS). Unfortunately…

Stability of bipedal systems in frontal plane is affected by the hip offset, to the extent that adjusting stride time using feedforward retraction and extension of the legs can lead to stable oscillations without feedback control. This…

Robots are used by humans not only as tools but also to interactively assist and cooperate with humans, thereby forming physical human-robot interactions. In these interactions, there is a risk that a feedback loop causes unstable force…

Jumping take-off in birds is an explosive behaviour with the goal of providing a rapid transition from ground to airborne locomotion. An effective jump is predicated on the need to maintain dynamic stability through the acceleration phase.…

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…

Models of bipedal locomotion are hybrid, with a continuous component often generated by a Lagrangian plus actuators, and a discrete component where leg transfer takes place. The discrete component typically consists of a locally embedded…

Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP)…

It is very important for quadruped walking machine to keep its stability in high speed walking. It has been indicated that moment around the supporting diagonal line of quadruped in trotting gait largely influences walking stability. In…

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…

Vibration transmission is essential in the design of comfortable vehicle seats but knowledge is lacking on 3D trunk and head motion and the role of seat back and posture. We hypothesized that head motion is reduced when participants upper…

Gait event detection of the initial contact and toe off is essential for running gait analysis, allowing the derivation of parameters such as stance time. Heuristic-based methods exist to estimate these key gait events from tibial…

This work presents algorithms for the feedback-stabilised walking of bipedal humanoid robotic platforms, along with the underlying theoretical and sensorimotor frameworks required to achieve it. Bipedal walking is inherently complex and…

Keeping the stability can be counted as the essential ability of a humanoid robot to step out of the laboratory to work in our real environment. Since humanoid robots have similar kinematic to a human, humans expect these robots to be…

This research aims to examine the effects of various vibrotactile feedback techniques on gait (i.e., walking patterns) in virtual reality (VR). Prior studies have demonstrated that gait disturbances in VR users are significant usability…

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…

Muscle models and animal observations suggest that physical damping is beneficial for stabilization. Still, only a few implementations of mechanical damping exist in compliant robotic legged locomotion. It remains unclear how physical…

Human and humanoid posture control models usually rely on single or multiple degrees of freedom inverted pendulum representation of upright stance associated with a feedback controller. In models typically focused on the action between…

Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption utilized in both theory and experiments is that the robot's…

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…