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...

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...

Computational analyses of leg-muscle function in human locomotion commonly assume that contact between the foot and the ground occurs at discrete points on the sole of the foot. Kinematic constraints acting at these contact points restrict the motion of the foot and, therefore, alter model calculations of muscle function. The aim of this study was to evaluate how predictions of muscle function ...

Musculoskeletal models and forward dynamics simulations of human movement often include foot-ground interactions, with the foot-ground contact forces often determined using a constitutive model that depends on material properties and contact kinematics. When using soft constraints to model the foot-ground interactions, the kinematics of the minimum distance between the foot and planar ground ne...

Contact state information is indispensable for performing skillful tasks in which an end-effector should be in contact with the environment. In previous work, the authors introduced the concept of a pseudo contact point that is useful for tasks involving contact as one expression of the contact state. In this paper, an extended definition of the pseudo contact point is proposed. The pseudo cont...

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 ...

Abstract-The unique structural configuration found in human foot allows easy walking. Similar movement is hard to imitate even for an ape. It is obvious that human ambulation relates to the foot structure itself. Suppose the bones are represented as vertices and the joints as edges. This leads to the development of a special graph that represents human foot. On a footprint there are point-ofcon...

Exploiting recent results based on differential geometric control theory, it is shown in the paper, that by suitable choice of generalized coordinates, the biped dynamics may be represented by almost linear model. This representation enables efficient use of well known classical control methodology to define stable control. This approach is based on complete two-DOF and three-DOF nonlinear mode...

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...