People are relatively insensitive to the curvature of their walking trajectory [Kallie et al., 2007, JEP:HPP, 33(1), 183-200]. This is exploited in the 'Redirected Walking' technique which is used in Virtual Reality to extend the borders of Virtual Environments (VE) beyond the size of the physical walking area [Steinicke et al., 2009, Journal of Virtual Reality and Broadcasting, 6(2009)]. One m...

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...

The problem of biped locomotion at steady speeds is discussed through a Lagrangian formulation developed for velocity-dependent, body driving forces. Human walking on a level surface is analyzed in terms of the data on the resultant ground-reaction force and the external work. It is shown that the trajectory of the center of mass is due to a superposition of its rectilinear motion with a given ...

This paper presents a new approach for 3D human walking modeling from monocular image sequences. An efficient feature point selection and tracking approach has been used to compute feature points' trajectories. Peaks and valleys of these trajectories are used to detect key frames—frames where both legs are in contact with the floor. These frames, together with prior knowledge of body kinematics...

Gait rehabilitation using body weight support on a treadmill is a recommended rehabilitation technique for neurological injuries, such as spinal cord injury. In this paper, a new robotic orthosis is presented for treadmill training. In the presented design the criteria such as low inertia of robot components, backdrivability, high safety and degrees of freedom based on human walking are conside...

Pedestrian navigation is a complex function of human dynamics, a desired destination, and the presence of obstacles. People cannot stop and start instantaneously and their turning abilities are influenced by kinematic and dynamical constraints. A realistic model of human walking paths is an important development for entertainment applications and many classes of simulations. We present a novel ...

This paper introduces a method that can generate continuous human walking motion automatically on an arbitrary path in a three-dimensional (3D) modelled scene. The method is based on a physical approach that solves the boundary value problem. In the motion generation stage, natural-looking walking motion, which includes plane walking, walking upstairs and downstairs and walking on a curved path...

This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology experimentally on two robotic platforms: AMBER2 and ATRIAS. Inspired by the key feature encoded in human walking— multi-contact behavior—this approach begins with the analysis of human locomotion and uses it to motivate the construction of a hybrid system model representing ...