in this paper an energy dissipation rate control (edrc) method is introduced, which could provide stable walking or running gaits for legged robots. this method is realized by developing a semi-analytical pattern generation approach for a robot during each single support phase (ssp). as yet, several control methods based on passive dynamic walking have been proposed by researchers to provide an...

Background. Human feet have important roles in supporting, moving and balancing the body. The feet must not only support the weight of the body but must also have the elasticity to absorb the burden associated with supporting excessive body weight. Objectives. The purpose of this study was to compare the difference of foot pressure, ground reaction force, and balance ability according to chang...

Introduction The rapid transmission and poor control policy response during recent Foot-and-Mouth disease (FMD) outbreaks have underscored the need for better decision support tools. At the foundation of these decision support tools are the epidemiological models that are parameterized with the data generated from pathogenesis studies of the FMD virus that contain contact transmission data. The...

Painlevé paradox occurs in rigid-body dynamics of mechanical systems with frictional contacts at configurations where the instantaneous solution is either indeterminate or inconsistent. Dynamic jamming is a scenario where the solution starts with consistent slippage and then converges in finite time to a configuration of inconsistency while the contact force grows unbounded. The goal of this pa...

In this paper an Energy Dissipation Rate Control (EDRC) method is introduced, which could provide stable walking or running gaits for legged robots. This method is realized by developing a semi-analytical pattern generation approach for a robot during each Single Support Phase (SSP). As yet, several control methods based on passive dynamic walking have been proposed by researchers to provide an...

Human locomotion dynamics has been a topic of interest since the past few decades. In many areas such as as humanoid robot design, gait rehabilitation, diagnosis of pathologies, prosthesis design, sport analysis, and motion cognition, the human locomotion is needed to be properly modelled. Dynamics of human locomotion, and the capability of implementing an accurate human gait simulation can be ...

The biomechanical mechanisms that link foot structure to injuries of the musculoskeletal system during gait are not well understood. This study had two parts. The purpose of part one was to determine the relation between clinical rearfoot and forefoot angles and foot angles as they make contact with the ground. The purpose of part two was to determine the effects of large vs. moderate values of...

Wepropose a novel state estimator for legged robots, STEP, achieved through preintegrated foot velocity factor. In the factor, usual non-slip assumption is not adopted. Instead, end effector becomes observable by exploiting body speed obtained from stereo camera. other words, effector’s pose can be estimated. Another advantage of our approach that it eliminates necessity contact d...