Biped locomotion generated by control methods based on Zero-Moment Point (ZMP) has been achieved and its efficacy for stable walking, where ZMP-based walking does not include the falling state, has been verified extensively. The walking control that does not depend on ZMP – we call it dynamical walking – can be used in walking that utilizes kicks by toes, which looks natural but is vulnerable t...

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...

We propose a model-based reinforcement learning algorithm for biped walking in which the robot learns to appropriately modulate an observed walking pattern. Viapoints are detected from the observed walking trajectories using the minimum jerk criterion. The learning algorithm modulates the via-points as control actions to improve walking trajectories. This decision is based on a learned model of...

OBJECTIVE To compare the effects of Pilates and walking on quality of life, depression, and anxiety levels. METHODS Sixty-three overweight/obese participants were randomly divided into: control (n = 20), walking (n = 21), and Pilates (n = 22) groups. Pilates and walking groups attended eight weeks of 60-minute exercise sessions three times per week. Quality of life, depression, and state- and...

Gaining insights into pedestrian flow operations and assessment tools for pedestrian walking speeds and comfort is important in, for instance, planning and geometric design of infrastructural facilities, as well as for management of pedestrian flows under regular and safety-critical circumstances. Pedestrian flow operations are complex, and vehicular flow simulation modelling approaches are gen...

The jewel wasp stings cockroaches and injects venom into their cerebral ganglia, namely the subesophageal ganglion (SOG) and supraesophageal ganglion (SupOG). The venom induces a long-term hypokinetic state, during which the stung cockroach shows little or no spontaneous walking. It was shown that venom injection to the SOG reduces neuronal activity, thereby suggesting a similar effect of venom...

Topic: Sensory system conflicts caused by virtual reality immersion may lead to alteration and adaptation in gait characteristics. The current study investigated such effect from the aspect of dynamic stability during walking. Experiment: Twelve healthy elderly took a one-minute treadmill walking experiment. Participants were randomly assigned to regular walking (RW) and virtual reality (VR) wa...

Seminal works in biped walking such as [1] had assumed favorable initial conditions on a limit cycle to start with. A more practical approach would be to start the biped from a static resting position. This paper proposes a simplified and straightforward approach for taking a biped robot from an initial resting position to a stable walking limit cycle. The biped model selected for the study is ...