abstract introduction: nowadays, the advanced technology of designing electronic circuits in very small size and with very low power consumption has led to development of wearable and implantable medical devices. however, the electronic circuits need power supply that is usually provided by relatively large and heavy batteries. the discharged batteries have to replaced or recharged for long tim...

background: diabetes is a common disease that can lead to metabolic abnormalities and chronic complications. today, the positive role of physical activity and exercise, especially walking in health human society and has been approved in prevention and control many complications including diabetes. today, the positive role of physical activities and exercise , especially hi wal king in the healt...

This paper presents the ability of hybrid zero dynamics (HZD) feedback control method to reproduce human like movements for walking push recovery of an under-actuated 3D biped model. The balance recovery controller is implemented on a three-dimensional under-actuated bipedal model subjected to a push disturbance. The biped robot model is considered as a hybrid system with eight degrees of freed...

this paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. to this end, a humanoid robot with 18 dof is considered to develop a dynamics model for studying various 3d manoeuvres. then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. in order to generate feasible w...

This work seeks virtual constraints, or outputs, that are intrinsic to human walking and utilises these outputs to construct controllers which produce human-like bipedal robotic walking. Beginning with experimental human walking data, human outputs are sought, i.e., functions of the kinematics of the human over time, which provides a low-dimensional representation of human walking. It will be s...

Human-like walking for humanoid robot is still an open research topic. This article proposes a method to generate real human-like walking pattern for humanoid robot. As walking patterns generated by existing methods differ a lot from these of human, especially for the traditional walking pattern with knee bent and pelvis lower down with a constant height, we started from the modeling of kinemat...

Human evolution has made the two legs as the only tools for locomotion in humans. In other words, human evolution has made and continuously improved bipedal (two legged) walking to an extent that it can exhibit amazingly robust behaviors over a wide variety of terrains in the environment. This is one of the factors why emulating human walking has been a continued objective for a majority of bip...

This paper presents the process of translating formal theory and methods to efficient algorithms in the context of human-inspired control of bipedal robots, with the end result being experimentally realized robust and efficient robotic walking with AMBER. We begin by considering human walking data and find outputs (or virtual constraints) that, when calculated from the human data, are described...