We present a new framework to generate human-like lower-limb trajectories in periodic and non-periodic walking conditions. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to model falling, swing and torso balancing dynamics. To stabilize the motion, we use an optimal time-projecting controller which suggests new footstep locations. On top...

The focus of this work is a study of the passive dynamic walking of a kneeless biped robot with torso on inclined slopes. We show that under a simple PD control applied between the torso and the stance leg the biped robot converges at a stable gait cycle. we present recent results of trajectory sensitivity analysis to effeciently determine the stability of limit cycles for the biped robot.

An immersive technology being developed by the Army to provide enhanced situation awareness for military personnel involves the use of tactile stimulators arranged in a matrix pattern surrounding the torso. When activated sequentially the tactile display can be swept over the torso to provide a sense of motion. This tactile stimulus can alter the perceived experience of self-motion produced by ...

Since the introduction of computers, scientists and engineers have attempted to harness their power to simulate complex physical phenomena. Today, the computer is an almost universal tool used in a wide range of scientific and engineering domains. Currently, organizing, running and visualizing a new large-scale simulation still requires hours or days of a researcher’s time. Time and effort requ...

The application of linear graph theory to the modelling of flexible multibody systems is described. When combined with symbolic computing methods, linear graph theory leads to efficient dynamic models that facilitate real-time simulation of systems of rigid bodies and flexible beams. The natural extension of linear graphs to the modelling of mechatronic multibody systems is presented, along wit...

The purpose of the present experiment was to examine the relationship between rate of body heat storage (S), change in body heat content (DeltaH(b)), extremity temperatures, and finger dexterity. S, DeltaH(b), finger skin temperature (T(fing)), toe skin temperature, finger dexterity, and rectal temperature were measured during active torso heating while the subjects sat in a chair and were expo...

The purpose of this paper is to present a robust tracking control algorithm for underactuated biped robots capable of self-balancing in the presence of external disturbances. The biped is modeled as a five-link planar robot with four actuators located at hip and knee joints. A sliding mode control law has been developed for the biped to follow a human-like gait trajectory while keeping the tors...