A new passive wheel type leg-wheeled hybrid mobile robot based on surface motion principle was introduced. To produce the propulsion force, a passive wheel was installed at the end of the parallel mechanism structured leg connecting with the frame-body to make the wheel vertical to the ground at any time. With the inertia framework, the robot framework and some assumptions, two forms of Maggie ...

The behavior of a robot is emerged from the interaction between body, control, and environmental dynamics. The research group B–3 aims to design body and control dynamics for emerging adaptive locomotion. We investigate three types of locomotion, biped, quadruped, and snake-like and developed robots. We also discuss on the lower control architecture for realizing reactive adaptive locomotion.

We present a kinodynamic planning methodology for a high-impedance quadruped robot to negotiate a wide variety of terrain types with high reliability. We achieve motion types ranging from dynamic, double-support lunges for efficient locomotion over extreme obstacles to careful, deliberate foothold and body pose selections which allow for precise foothold placement on rough or intermittent terrain.

STUDY DESIGN Controlled laboratory study, repeated-measures design. OBJECTIVES To compare hip abductor muscle activity during selected exercises using fine-wire electromyography, and to determine which exercises are best for activating the gluteus medius and the superior portion of the gluteus maximus, while minimizing activity of the tensor fascia lata (TFL). BACKGROUND Abnormal hip kinema...

In this paper we present the system design of a machine that we have constructed to study a quadrupedal gallop gait. The gallop gait is the preferred high-speed gait of most cursorial quadrupeds. To gallop, an animal must generate ballistic trajectories with characteristic strong impacts, coordinate leg movements with asymmetric footfall phasing, and effectively use compliant members, all the w...