Article history: Received: .................. Accepted: ................... Available online: ........ ZJRMS 2015.....; X(X): XX-XX Background: Stabilization exercises lead to improve muscle performance and can be used to prevent and treat of low back pain. Aim of this study is to evaluate and compare the level of abdominal and lumbar muscles activity during two types of stabilization exercises...

In conventional “sense-think-act” control architectures, perception is reduced to a passive collection of sensory information, followed by a mapping onto a prestructured internal world model. For biological agents, Sensorimotor Contingency Theory (SMCT) posits that perception is not an isolated processing step, but is constituted by knowing and exercising the law-like relations between actions ...

quadruped robots have unique capabilities for motion over uneven natural environments. this article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. first, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-dof quadruped robot. thereafter, an inverse-dynamics...

In this study, we analyze the balance of quadruped walking robots. For this purpose, a simplified polygonal model of a quadruped walking configuration is considered. A boundaryrange-based balance margin is used for determining the system stability of the polygonal walking configuration considered herein. The balance margin enables the estimation of the walking configuration’s balance for effect...

Abstract Animals achieve agile locomotion performance with reduced control effort and energy efficiency by leveraging compliance in their muscles tendons. However, it is not known how biological controllers learn to leverage the intelligence embodied leg mechanics. Here we present a framework match patterns mechanics based on concept of short-term elasticity long-term plasticity. Inspired anima...

An attempt to produce scoliosis in young baboons by excision of the heads of ribs failed in thirteen growing animals observed for up to a year after operation. Other investigators have failed to produce scoliosis in primates by similar and other techniques that had successfully produced scoliosis in quadruped animals. The possible reasons for this are discussed, especially in the light of clini...

In this paper, a new intelligent control approach for high-speed quadruped bounding and galloping gaits is presented. The controller is capable of learning the leg touchdown angles and leg thrusts required to track the desired running height and velocity of a quadruped in only one stride. Training of the controller is accomplished not with a mathematical model, but with simple rules based on a ...

Legged robots are highly attractive for military purposes such as carrying heavy loads on uneven terrain for long durations because of the higher mobility they give on rough terrain compared to wheeled vehicles/robots. Existing state-of-the-art quadruped robots developed by Boston Dynamics such as LittleDog and BigDog do not have flexible bodies. It can be easily seen that the agility of quadru...