Article history: Received 22 October 2010 Received in revised form 11 November 2011 Accepted 11 November 2011 Available online xxxx 0045-7906/$ see front matter Crown Copyright doi:10.1016/j.compeleceng.2011.11.007 ⇑ Corresponding author. E-mail addresses: [email protected] (S. Soyg Please cite this article in press as: Soyguder S with SLIP model. Comput Electr Eng (2011), d In this study,...

OBJECTIVE To assess the quality of current evidence as to the effectiveness of robot-assisted gait training in spinal cord injured patients, focusing on walking ability and performance. METHODS A search was conducted in MEDLINE, Web of Knowledge, Cochrane Library, Physiotherapy Evidence Database (PEDro) and Digital Academic Repositories (DAREnet) (1990-2009). Key words included "spinal cord i...

BACKGROUND AND PURPOSE Progressive supranuclear palsy (PSP) is a rare neurodegenerative disease clinically characterized by prominent axial extrapyramidal motor symptoms with frequent falls. Over the last years the introduction of robotic technologies to recover lower limb function has been greatly employed in the rehabilitative practice. This observational trial is aimed at investigating the c...

There are several approaches to create the Humanoid robot gait planning. This problem presents a large number of unknown parameters that should be found to make the humanoid robot to walk. Optimization in simulation models can be used to find the gait based on several criteria such as energy minimization, acceleration, step length among the others. The presented paper addresses a comparison bet...

This paper presents an energy efficient dynamically stable gait for a Nao humanoid robot. In previous work we identified a dynamically stable and energy efficient gait in the sagittal or walking direction of a Nao robot. This gait proved to be more energy efficient than the standard gait, provided by the manufacturer. Dynamic stability in the lateral direction was not addressed. Lateral stabili...

In order to realize smooth gait planning and stability control of a quadruped robot, a new controller algorithm based on CPG-ZMP (central pattern generator-zero moment point) is put forward in this paper. To generate smooth gait and shorten the adjusting time of the model oscillation system, a new CPG model controller and its gait switching strategy based on Wilson-Cowan model are presented in ...

Snake robots are mostly designed based on single mode locomotion. However, single mode gait most likely could not work effectively when the robot is subject to an unstructured working environment with different measures of terrain complexity. As a solution, mixed mode locomotion is proposed in this paper by synchronizing two types of gaits known as serpentine and wriggler gaits used for non-con...

Problem statement: Present researches focus to make humanoid robots more and more autonomous so they can assist human in daily works like taking care of children, aged or disabled persons. In such social activities, the contemporary humanoid robots are expected to have human like morphology and gait. Studies on bipedal locomotion for humanoid robots are then part of the hottest topics in the fi...

In this paper, partial leg exchange gait for twin-frame walking robot is proposed. This twin-frame walking robot doesn’t have the degrees of freedom (DOF) for moving the center of gravity (CG). Thus, it is impossible to increase the stability margin actively. But using this proposal method, CG can move in the leg exchange phase and obtain enough stability margins. Proposal gait motion is verifi...

In this paper, the use of a proposed recurrent neural network control system to control a four-legged walking robot is investigated. The control system consists of a neural controller, standard PD controller and the walking robot. The robot is a planar four-legged walking robot. The proposed Neural Network (NN) is employed as an inverse controller of the robot. The NN has three layers, which ar...