This paper proposes a hybrid control method of using the impedance control and the computed-torque control for biped robot locomotion. The computedtorque control is used for supporting (mn.strained) leg. For the free leg, the impedance control is wed, where different values of impedance parameters are used depending on the gait phase of the biped robot. To reduce the magnitude of an impact and ...

The aim of the study was to determine stability and complexity muscle synergies provide insight neural control gait in walking running when performing a concurrent cognitive dual task. Eighteen healthy young adults performed at preferred speeds 120% single task conditions. Muscle were determined from activity 9 trunk leg muscles centre mass (COM) motion recorded with an inertial measurement uni...

Many-legged animals, such as crabs and cockroaches, utilize whole-body mechanics similar to that observed for running bipeds and trotting quadrupedal mammals. Despite the diversity in morphology, two legs in a quadrupedal mammal, three legs in an insect and four legs in a crab can function in the same way as one leg of a biped during ground contact. To explain how diverse leg designs can result...

In this study, we proposed an origami pump actuator based pneumatic quadruped robot (OPARO). The was constructed with a four-leg system controlled by only two motors. Specifically, the forelegs and hindlegs are pneumatically coupled to operate simultaneously tendon-driven system. performs pumping actuating supply air hindlegs, passively actuated from forelegs. We conducted series of experiments...

When mammals run, the overall musculoskeletal system behaves as a single linear "leg spring". We used force platform and kinematic measurements to determine whether leg spring stiffness (k(leg)) is adjusted to accommodate changes in surface stiffness (ksurf) when humans hoop in place, a good experimental model for examining adjustments to k(leg) in bouncing gaits. We found that k(leg) was great...

Biology not only provides inspiration in the design of walking machines, but also suggests detailed solutions. Concise information on legged locomotion animal world is presented, and relationships between engineering solutions biological are shown. The construction legs briefly described most commonly used leg structures for machines discussed, including references to patterns. Examples bio-ins...

The Articulated Wheeled Vehicle (AWV) paradigm examines a class of wheeled vehicles where the chassis is connected via articulated chains to a set of ground-contact wheels. Activelyor passivelycontrolled articulations can help alter wheel placement with respect to chassis during locomotion, endowing the vehicle with significant reconfigurability and redundancy. The ensuing ‘leg-wheeled’ systems...

It is known that humans intentionally choose skipping in special situations, e.g. when descending stairs or when moving in environments with lower gravity than on Earth. Although those situations involve uneven locomotion, the dynamics of human skipping on uneven ground have not yet been addressed. To find the reasons that may motivate this gait, we combined experimental data on humans with num...