Background/objective Anterior cruciate ligament (ACL) rupture results in knee instability, and patients are often unable to return to their previous level of activity. Current assessments rely on passive laxity tests, which do not correlate with function. Dynamic stability may be a better indicator for return to sport. However, equipment for measuring dynamic stability is ill suited for clinica...

From 1970’s, legged robots have attracted much attention of many researchers. In spite of this, it has been regarded that dynamically stable walking is very difficult to be tackled for any types of legged robots. For a trot gait for quadruped walking robots, we have proposed “the sway compensation trajectory”. This method utilizes a lateral, longitudinal, and vertical motion of a robot body to ...

With the extension of robot applications, robot with high adaptability and high load capacity become a new focus in the recent years. Wheeled robots have the advantages of high load and speed, but this is limited in specified substrate. Legged robots inspired by the legged animals could move on rough terrain, so it was selected as a robot prototype for the high adaptability and high load capaci...

In this paper the design goals for a new, open and modular, four-legged robot platform are described that was developed in reaction to the open call for a standard platform issued by the RoboCup Federation in 2006. The new robot should have similar motion and sensing capabilities like the previously used Sony AIBO plus several new ones. The hardware and software should be open, modular and reco...

We consider the problem of planning motions of a simple legged robot called the spider robot. The robot is modelled as a point where all its legs are attached, and the footholds where the robot can securely place its feet consist of a set of n points in the plane. We show that the space F of admissible and stable placements of such robots has size (n 2) and can be constructed in O(n 2 log n) ti...

We consider the problem of planning motions of a simple legged robot called the spider robot. The robot is modelled as a point where all its legs are attached, and the footholds where the robot can securely place its feet consist of a set of n points in the plane. We show that the space F of admissible and stable placements of such robots has size (n2) and can be constructed in O(n2 logn) time ...

This paper reflects the state of development of multilevel control algorithms for a six-legged mobile robot. The robot has a perceptive ability and can measure distances up to points in the terrain relief to be overcome. The measurement process is coordinated with the robot's motion. DC simulation results and the analysis of the robot's moving image on the display screen make i t possible to ch...

An exportable and robust system for turn control using only camera images is proposed for path execution in robot navigation. Robot motion information is extracted in the form of optical flow from SURF robust descriptors of consecutive frames in the image sequence. This information is used to compute the instantaneous rotation angle. Finally, control loop is closed correcting robot displacement...

This paper presents a simulation procedure for generating a gait pattern and lateral motion sequence of a six legged robot. Gait pattern was studied and presented in the horizontal plane while lateral motion sequences were analyzed in the sagittal plane. Both analytical and graphical methods are used to study and to present gait and motion analysis over level terrain. Walking over level terrain...