In this chapter we will highlight our experimental studies on natural human walking analysis and introduce a biologically inspired design for simple bipedal locomotion system of humanoid robots. Inspiration comes directly from human walking analysis and human muscles mechanism and control. A hybrid algorithm for walking gaits generation is then proposed as an innovative alternative to classical...

Human walking can be approximated as a mechanical process governed by Newton’s laws of motion, and not controlled. Tad McGeer first demonstrated, and we have confirmed, that a two-dimensional legged mechanism with four moving parts can exhibit stable, human-like walking on a range of shallow slopes with no actuation and no control (energy lost in friction and collisions is recovered from gravit...

Walking stability of human beings varies with age and reduces in the elderly people. Lesser walking stability causes many falls in the elderly people. In this paper, we have investigated the walking stability of young and elderly subjects using approximate entropy, a non-linear time series analysis method. Our emphasis in this paper is to investigate the walking stability using a portable instr...

Simple human gait can be difficult, unfeasible and not always practical in Virtual Reality, because of spatial and technological limitations. For 3D virtual environment travelling, different walking platforms have been developed in the last few years, but navigation using most of them is far from bringing naturalness to the user’s movements. Users sometimes are unsecure and they are trying to a...

Humans possess a complex physical structure and can perform difficult movement tasks. Over the past few decades, many researchers around the world have concentrated on achieving human-like artificial mobility or dexterity either on humanoid robots or during the implementation of robotic assistive devices. In particular, humanoid-type robots mainly focused on hands to understand the mechanical a...

Walking vibration can cause complaints to building users, especially on timber floor. In previous studies, there is a difference in the human evaluation for same between sensory test result using shaking table and full-scale this study, factor of was investigated, it revealed that deflection due landing foot influences lower rigidity Finally, adding effect, correction method walking presented.

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 ...