All-terrain robot locomotion is an active topic of research. Search and rescue maneuvers and exploratory missions could benefit from robots with the abilities of real animals. However, technological barriers exist to ultimately achieving the actuation system, which is able to meet the exigent requirements of these robots. This paper describes the locomotion control of a leg prototype, designed ...

We propose a model-based reinforcement learning algorithm for biped walking in which the robot learns to appropriately place the swing leg. This decision is based on a learned model of the Poincaré map of the periodic walking pattern. The model maps from a state at a single support phase and foot placement to a state at the next single support phase. We applied this approach to both a simulated...

Gait analysis of trans-tibial amputees brings to light asymmetries of different gait parameters between the amputated and sound legs. The present study investigated the activity of the vastus medialis and biceps femoris muscles during ambulation of trans-tibial amputees. Peak activities of the vastus medialis were reached similarly in both legs (6.06+/-4.9% and 8.84+/-3.6% of gait cycle, in the...

In mechanical studies of pumping a playground swing, two methods of energy insertion have been identified: parametric pumping and driven oscillation. While parametric pumping involves the systematic raising and lowering of the swinger's center of mass (CM) along the swing's radial axis (rope), driven oscillation may be conceived as rotation of the CM around a pivot point at a fixed distance to ...

Interlimb neural coupling might underlie human bipedal locomotion, which is reflected in the fact that people swing their arms synchronously with leg movement in normal gait. Therefore, arm swing should be included in gait training to provide coordinated interlimb performance. The present study aimed to develop a Rotational Orthosis for Walking with Arm Swing (ROWAS), and evaluate its feasibili...

Powered knee-ankle prostheses are capable of providing net-positive mechanical energy to amputees. Yet, there are limitless ways to deliver this energy throughout the gait cycle. It remains largely unknown how different combinations of active knee and ankle assistance affect the walking mechanics of transfemoral amputees. This study assessed the relative contributions of stance phase knee swing...

Introduction: Individuals with cerebral palsy (CP) demonstrate high response variability to motor training insufficiently accounted for by age or severity. We propose here that differences in the inherent ability to learn new motor tasks may explain some of this variability. Damage to motor pathways involving the cerebellum, which may be a direct or indirect effect of the brain injury for many ...

Every day new technology appears. In the field of legged robots, it is not otherwise. LIDAR vision, artificial intelligence, computing power and drives help to improve state robots. One unsolved problems still terrain navigation, such as locomotion in resistive terrain. To determine correct locomotion, research must be carried out. this paper, we compare two different situations, where a six-le...

Abstract. To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the adaptive control using sensory information (feedback control) is indispensable. In this paper, we propose a new body trajectory, the 3D sway compensation trajectory, for a stable trot gait; we show that this trajecto...