Walking is a complex dynamic task that requires the regulation of whole-body angular momentum to maintain dynamic balance while performing walking subtasks such as propelling the body forward and accelerating the leg into swing. In human walking, the primary mechanism to regulate angular momentum is muscle force generation. Muscles accelerate body segments and generate ground reaction forces th...

[Purpose] Forward walking (FW) and backward walking (BW) on a treadmill is a common tool for lower extremity rehabilitation in the clinical setting. The purpose of this study was to evaluate the effects on anaerobic performance and anthropometrical adaptations during FW and BW on a treadmill. [Subjects and Methods] A convenience sample of thirty healthy male subjects with a mean age of 20.93 ± ...

"Walking-Mode Maps", based on Slip/Non-Slip criteria, are proposed. Slip/Non-Slip criteria are expressed as follows: for a slip to occur: |F(h)/F(n)|(h) > or = mu(s) or |F(h)/F(n)|(t) > or = mu(s); for no slip to occur: |F(h)/F(n)|(h) < mu(s) or |F(h)/F(n)|(t) < mu(s). |F(h)/F(n)|(h) and |F(h)/F(n)|(t) are the maximum peak value of the traction coefficient at heel-strike and toe-off respectivel...

Moving in a cluttered environment with a six-legged walking machine that has additional body actuators, therefore controlling 22 DoFs, is not a trivial task. Already simple forward walking on a flat plane requires the system to select between different internal states. The orchestration of these states depends on walking velocity and on external disturbances. Such disturbances occur continuousl...

The authors have focused on the bipedal humanoid robot expected to play an active role in human living space, through studies on an anthropomorphic biped walking robot. As the first stage of developing a bipedal humanoid robot, the authors developed the human-size 35 active DOF bipedal humanoid robot “WABIAN” and the human-size 41 active DOF bipedal humanoid robot “ WABIAN-R”. The authors also ...