This paper proposes a method of adaptively generating a gait pattern of biped robot. The gait synthesis is based on human’s gait pattern analysis. The proposed method can easily be applied to generate the natural and stable gait pattern of any biped robot. To analyze the human’s gait pattern, sequential images of the human’s gait on the sagittal plane are acquired from which the gait control va...

This thesis develops methods of control that allow a multi-legged robot to vary its stepping pattern, the gait of a robot, during locomotion. By constructing feedback control around the gaits a robot may use, we produce behaviors allowing a robot to switch amongst or return to certain gaits while performing feedback control during locomotion. Gait regulation is one specific aspect of gait-based...

In this paper an Energy Dissipation Rate Control (EDRC) method is introduced, which could provide stable walking or running gaits for legged robots. This method is realized by developing a semi-analytical pattern generation approach for a robot during each Single Support Phase (SSP). As yet, several control methods based on passive dynamic walking have been proposed by researchers to provide an...

Though a legged robot has high terrain adaptability as compared with a wheeled vehicle, its moving speed is considerably low in general. For attaining a high moving speed with a legged robot, a dynamically stable gait, such as running for a biped robot and a trot gait or a bound gait for a quadruped robot, is a promising solution. However, the energy efficiency of the dynamically stable gait is...

The problem of gait planning for the quadruped search robot is described as an uncertainty discrete system. According to the basic gait elements of the quadruped search robot, the periodic gait of the robot is analyzed on the basis of gait timing diagram. The non-fragile control theory is proposed for gait planning control of quadruped search robot. A non-fragile reliable adaptive controller is...

A three-step planning method is proposed, aiming at the redundancy of DOFs and the complexity of a biped robot’s gait planning. The method presents a quick procedure on the planning of robot’s walking gait, and it is used in the walking gait planning of a biped robot, the HIT-Robocean. A robot virtual prototype model firstly is set up with the aid of the softwares, namely, Solidworks, Matlab, a...

[Purpose] The purpose of this study was to confirm the effect of robot-assisted gait training on the balance and gait ability of stroke patients who were dependent ambulators. [Subjects and Methods] Twenty stroke patients participated in this study. The participants were allocated to either group 1, which received robot-assisted gait training for 4 weeks followed by conventional physical therap...

The purpose of this study is to find natural gait of biped robot such as human being by analyzing the COG (Center Of Gravity) trajectory of human being's gait. It is discovered that human beings gait naturally maintain the stability and use the minimum energy. This paper intends to find the natural gait pattern of biped robot using the minimum energy as well as maintaining the stability by anal...

Increasing the energy autonomy of a hopping one-legged robot is studied in this paper. For a particular passive gait, of all those possible, the energy dissipated per unit length of travel is shown to be less than for any other gait. This optimal gait is identified analytically, by exploiting the commonly used SLIP model to simplify real robot dynamics. Both mechanical and electrical losses are...

It is easier for bipedal robots to exist in a human oriented environment than for other types of robots. Furthermore, dynamic walking is more efficient than static walking. For a biped robot achieve dynamic balance while walking, a dynamic gait must be developed. Two different approaches to gait generation are presented—an intuitive approach using software for gait animation, and a periodic app...