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,...

This thesis presents a novel locomotion technique, called legless locomotion, for convex-bodied legged robots. The motivation for studying legless locomotion stems from the mobile robot recovery problem, stated simply as what should a robot do when trapped? Legless locomotion is the technique of locomotion for a legged robot which has no leg-ground contact, but can use the swinging legs to exci...

Snake-like robots have been widely studied due to their special 3D locomotion ability and the adaptability in diverse complex environments. Autonomous locomotion, that is, acquiring environment information, making locomotion decisions independently and then performing locomotion, is of the essence for snake-like robots to complete self-governed tasks in various complex terrain. The traditional ...

Locomotion is one of the most important capabilities for virtual human agents in interactive applications, because it allows them to navigate their environment. Locomotion controllers in interactive applications typically work by blending and concatenating clips of keyframe or motion capture motion that represent individual locomotion actions (e.g. walk cycles), to generate sequences of natural...

In this paper, a control design approach is presented, which uses human data in the development of bipedal robotic control techniques for multiple locomotion behaviors. Insight into the fundamental behaviors of human locomotion is obtained through the examination of experimental human data for walking on flat ground, upstairs, and downstairs. Specifically, it is shown that certain outputs of th...

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,...

397 holstein dairy cows were used to determine locomotion score, lameness prevalence and its relationship with age of the animal and body condition score (bcs). locomotion score was determined using seven gait properties of animal. the results showed that more than 56% of cows in the herd had no locomotion problems. more than 40% of cows were placed in the group of suspected subclinical lamenes...

Introduction Mobile defense, rescue, and space robots are expected to operate in rough and unknown terrain, typically with the aid of human teleoperation. However, teleoperation alone cannot eliminate robots experiencing “locomotion errors,” such as when a robot’s leg, wheel, or body becoming trapped in a crevice. For example, NASA’s Mars rover Spirit became trapped in soft ground and could not...

In recent years, there has been increasing interest in legged locomotion, primarily due to the realization that wheeled locomotion has inherent limitations on unstructured environments. The use of legs, adopted by many animals and insects who need to locomote over a wide range of di erent terrain conditions, seems to be the most natural and e ective solution to the problem. In this context, we ...