Feasibility Study on Walking Training Biped Locomotion Surrogate Robot
نویسندگان
چکیده
منابع مشابه
Feasibility Study on Walking Training Biped Locomotion Surrogate Robot
Over the past few years in Japan, the number of senior citizens has increased remarkably, and around 1,650,000 of them have gait disorders. Gait disorder means to become difficult of gait by many kinds of cause. For examples, cerebrovascular disorders and joint trouble are the main causes of gait disorders, which are common ailments among those aged 65 to 74. They may be unrelated to the workin...
متن کاملSpejbl – the Biped Walking Robot
Construction of a biped walking robot, its hardware, basic software and control design is presented. Primary goal achieved is a static walking with non-instantaneous double support phase and fixed trajectory in joint coordinates. The robot with two legs and no upper body is capable to walk with fixed, manually created, static trajectory using simple SISO proportional controller, yet it is exten...
متن کاملExperimental Study of Biped Locomotion of Humanoid Robot HRP-1S
We have developed a humanoid robot HRP-1S that can be controlled its whole body motion. In phase one of Humanoid Robotics Project (HRP) of METI of Japan, Honda R&D Co. Ltd. has produced humanoid robots HRP-1 as humanoid research platforms to establish good applications of humanoid robots in phase two of HRP. However HRP-1 is controlled its legs and arms separately, and it is not suitable for so...
متن کاملLocomotion control of a biped locomotion robot using nonlinear oscillators
This paper proposes the locomotion control system for a biped locomotion robot. The proposed control system is composed of motion generator system and motion control system. Motion generator system is composed of nonlinear oscillators which generate the commanded trajectories of the joints as functions of phases of oscillators. Motion control system is composed of motors with controllers instal...
متن کاملReflex Control of Biped Robot Locomotion on A Slippery Surface
Biped robots are expected to walk on many di erent and previous unknown terrains, and thus they may walk on a slippery surface with low friction with no information on the surface a priori. Any fall-down due to unexpected slipping could costly damage the robot and thus should be avoided. This paper proposes a re ex control method for biped robots to quickly recover their posture from a slip soo...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Robotics & Automation Journal
سال: 2017
ISSN: 2574-8092
DOI: 10.15406/iratj.2017.02.00035