The moving objectives’ images are in tensor format in reality. That using for reference the thought of tensor space dimension reduction to gain the optimal gait characters with low dimension inaugurate a new gait recognition way. A novel gait expression and recognition algorithm based on the tensor space is introduced here. It is a tensor space learning algorithm that could investigate the inhe...

For gait phase estimation, time-series data of lower-limb motion can be segmented according to time windows. Time-domain features then calculated from the signal enclosed in a window. A set time-domain is used for estimation. In this approach, components feature and length window are influential parameters However, optimal parameter values, which determine its vary across subjects. Previously, ...

This paper presents two planning methods for generating fast walking gaits for the quadruped robot RoboSimian and analyzes their feasibility and performance as a function of joint velocity limits. One approach uses a two-at-a-time swing leg motion gait, generated using preview control of the zero moment point (ZMP) on a narrow, double-support base of support. The second method uses a one-at-a-t...

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...

Gaits are crucial to the performance of locomotors. However, it is often difficult to design effective gaits for complex locomotors. Geometric mechanics offers powerful gait design tools, but the utilities of these tools have been limited to systems with two joints. Using shape basis functions, it is possible to approximate the kinematics of complex locomotors using only two shape variables. As...

This paper presents an interactive hierarchical motion control system dedicated to the animation of human figure locomotion in virtual environments. As observed in gait experiments, controlling the trajectories of the feet during gait is a precise end-point control task. Inverse kinematics with optimal approaches are used to control the complex relationships between the motion of the body and t...

This paper addresses a gait generation problem for the compass-type biped robot on periodically unlevel grounds. We first derive the continuous/discrete compass-type biped robots (CCBR/DCBR) via continuous/discrete mechanics, respectively. Next, we formulate a optimal gait generation problem on periodically unlevel grounds for the DCBR as a finite dimensional nonlinear optimization problem, and...

Several motion control techniques rely on shape control rather than actuator command. A shape controller speciies the desired shape of the object, but not its position and orientation. The actual position and orientation result from interaction with the surrounding world. We propose to use a bank of wavelet networks, together with local optimization algorithms, as a tunable deformation controll...