In this article, we holistically present a hybrid-linear inverted pendulum (H-LIP) based approach for synthesizing and stabilizing 3-D foot-underactuated bipedal walking, with an emphasis on thorough hardware realization. The H-LIP is proposed to capture the essential components of underactuated actuated part robotic walking. robot walking gait then <italic xmlns:mml="http://www.w3.org/1998/Mat...

The present paper deals with the motion analysis of the leg tip of a six-legged walking robot, which mimics the kinematic structure and locomotion of the stick insect. The kinematic model of the six-legged walking robot and the appropriate algorithm for the leg coordination were proposed in previous papers to simulate and analyze different types of gait for different speeds of the robot body, b...

The paper describes a walking robot leg modelling process. A six-legged walking robot — the so-called hexapod is concerned. Each leg consists of three links driven by Hitec HS475HB servo motors. The proposed model is used for testing leg kinematics and dynamics of the robot gait. One can examine a number of walking algorithms. The model includes: the identified description of the servo motors, ...

This paper describes a learning framework for a central pattern generator based biped locomotion controller using a policy gradient method. Our goals in this study are to achieve biped walking with a 3D hardware humanoid, and to develop an efficient learning algorithm with CPG by reducing the dimensionality of the state space used for learning. We demonstrate that an appropriate feedback contro...

In response to rising health care costs associated with obesity rates, some health care insurers are adopting incentivized technology-enhanced wellness programs. The purpose of this study is to evaluate the large-scale implementation of an incentivized Internet-mediated walking program for obese adults and to examine program acceptance, adherence, and impact. A mixed-methods evaluation was cond...

In this paper, we propose a novel gait recognition method based on a bag-of-gait model. In the proposed method, the image sequence of a walking person is encoded by a codebook consisting of a list of code words denoting different walking stages; then, this image sequence is represented by a feature vector denoting the existence of the code words, which is further used for classification. Unlike...

We examined the effects of load on the energy cost of walking (C(w)), being defined as the ratio of the 2-min steady-state oxygen consumption to the speed, and economical speed (ES) during level and gradient walking. Ten men walked on a treadmill at various speeds with and without a load on their back at 0% and +/-5% gradients. Significantly lower C(w) values were observed only when the load wa...

There are few studies of built environment associations with physical activity and weight status among older women in large geographic areas that use individual residential buffers to define environmental exposures. Among 23,434 women (70.0 ± 6.9 yr; range = 57-85) in 3 states, relationships between objective built environment variables and meeting physical activity recommendations via walking ...

In this paper, a simple Neural controller has been used to achieve stable walking in a NAO biped robot, with 22 degrees of freedom that implemented in a virtual physics-based simulation environment of Robocup soccer simulation environment. The algorithm uses a Matsuoka base neural oscillator to generate control signal for the biped robot. To find the best angular trajectory and optimize network...