Clinicians often use intuitive models based on clinical experience or regression models based on population studies to plan treatment of gait-related disorders. Because such models are constructed using data collected from previous patients, the predicted clinical outcome for a particular patient may not be reliable. We propose a new approach that uses computational models based on engineering ...

in this paper we intend to generate some set of optimal trajectories according to the number of control points has been applied for parameterizing those using b-spline curves. the trajectories are used to generate an optimal locomotion gait in a crawling worm-like robot. due to gait design considerations it is desired to minimize the required torques in a cycle of gait. similar to caterpillars,...

Convex optimization has the advantages on solving the problems with hundreds of variables and thousands of constraints. However, traditional multi-body model based zero moment point (ZMP) formulation makes it impossible to introduce the convex optimization into humanoid gait generation because the constraint can not be transferred into convex. This paper derives a new ZMP formulation by combini...

We present a search-based method for the generation of a terrainadaptive optimal gait of a six-legged walking machine. In this, several heuristic rules have been proposed to reduce the search effort. We identify the useful support states of the machine and form a table to indicate for each of these states the list of other states to which a transition can be made. This helps in converging to an...

This paper investigates the problem of running gait optimization for humanoid robot. In order to reduce energy consumption and guarantee the dynamic balance including both horizontal and vertical stability, a novel running gait generation based on opposition-based learning particle swarm optimization (PSO) is proposed which aims at high energy efficiency with better stability. In the proposed s...

The proposition that dynamic optimization provides better estimates of muscle forces during gait than static optimization is examined by comparing a dynamic solution with two static solutions. A 23-degree-of-freedom musculoskeletal model actuated by 54 Hill-type musculotendon units was used to simulate one cycle of normal gait. The dynamic problem was to find the muscle excitations which minimi...

Simulating human motion is a complex problem due to redundancy of the human musculoskeletal system. The concept of task-based dynamic motion prediction using singleor multi-objective optimization techniques provides a viable approach for predicting dynamic gait motions of digital humans, subjected to basic physical and kinematical constraints. The task-based motion prediction is in fact a numer...

The problem of tuning nonlinear dynamical systems parameters, such that the attained results are considered good ones, is a relevant one. This article describes the development of a gait optimization system that allows a fast but stable robot quadruped crawl gait. We combine bio-inspired Central Patterns Generators (CPGs) and Genetic Algorithms (GA). CPGs are modelled as autonomous differential...

The design considerations for a small, relatively fast walking, autonomous humanoid robot are presented. The robot must be energy efficient but also produce sufficient torque to reach greater speeds. On the basis of previous investigations into gait optimization for multilegged systems, dynamical modeling and nonlinear optimization tools are used for design optimization and choosing the motor s...

for TAR 2015 Optimization of prosthetic alignments with a mobile gait analysis system Thiele, Julius, Technische Universität Berlin, Germany [email protected] Westebbe, Bettina, Technische Universität Berlin, Germany [email protected] Oehler, Simone, Otto Bock HealthCare, Germany [email protected] Kraft, Marc, Technische Universität Berlin, Germany [email protected]