The COG trajectory planning method is the primary concern in the gait planning for quadruped robot, especially when the quadruped robot travelling on rough terrain. In this paper, we focus on the scenario where the quadruped robot walking on the rough terrain with the static walking gait. We present a smooth COG trajectory generator that the COG smooth trajectory characterized by continuous vel...

The design considerations for a small, relatively fast walking, autonomous humanoid robot are presented. The robot must be energy efficient but also produce sufficient torque to reach greater speeds. On the basis of previous investigations into gait optimization for multilegged systems, dynamical modeling and nonlinear optimization tools are used for design optimization and choosing the motor s...

Leg compliance, gravity and ground have a significant impact on the performance and gait characteristics of a quadruped robot. This paper presents results obtained using a planar lumped parameter model of a quadruped robot and an extensive research scheme to determine optimum design parameters for a quadruped moving in different gravity environments. Hildebrand diagrams are used to classify qua...

Amphibious snake-like robots are advantageous than traditional snake-like robots for their adaptability in aquatic environments. This paper presents a novel amphibious snake-like robot. The mechanism and control system of the robot are illustrated. A simplified Serpenoid Curve is used to generate the basic undulation of the robot. Three-dimensional gaits are generated by combining undulations o...

Multi-legged robots display significant advantages with respect to wheeled ones for walking over rough terrain because they do not need continuous contact with the ground. In Multi-legged robots, hexapod robots, mechanical vehicles that walk on six legs, have attracted considerable attention in recent decades. There are several benefits for hexapods rover. (a) Hexapod robot is easy to maintain ...

The research of legged robot was rapidly developed. It can be seen from recent ideas about new systems of robot movement that take ideas from nature, called biology inspired. This type of robot begins replacing wheeled robot with various functions and interesting maneuvers ability. However, designers should decide how many legs are required to realize the ideas. One of the ideas that are rarely...

Legged robot gait generation is a challenging task that involves the control of a large number of degrees of freedom (DOF’s) within a mechanical structure that varies during locomotion. A large number of motion parameters have to be considered in order to obtain a stable, natural and efficient locomotion. Legged robot locomotion applies nonlinear dynamical equations of high order with a multidi...

A novel gait robot enabled nonambulatory patients the repetitive practice of gait and stair climbing. Thirty nonambulatory patients with subacute stroke were allocated to two groups. During 60 min sessions every workday for 4 weeks, the experimental group received 30 min of robot training and 30 min of physiotherapy and the control group received 60 min of physiotherapy. The primary variable wa...

PURPOSE The purpose was to test the effect of robot-assisted gait therapy with the Lokomat system in one representative individual with Parkinson's disease (PD). METHODS The patient was a 67-year-old female with more than an 8-year history of PD. The manifestations of the disease included depressive mood with lack of motivation, moderate bradykinesia, rigidity and resting tremor, both involvi...

Article history: Received 9 December 2015 Received in revised form 22 April 2016 Accepted 23 April 2016 Available online 29 April 2016 This paper presents the mechanical design and evaluation of a knee–ankle–foot robot, which is compact, modular and portable for stroke patients to carry out overground gait training at outpatient and home settings. A novel compact series elastic actuator (SEA) i...