stable biped walking pattern
A Simple Algorithm for Generating Stable Biped Walking Patterns
... the walking parameters (hip height, distance traveled by the hip, and times of single support phase SSP and double support phase DSP) to satisfy the kinematic and dynamic constraints: singularity condition at the ...
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Biped Gait Generation and Control Based on a Unified Property of Passive Dynamic Walking
... compass-gait biped robot ...ultimate walking motion from the energy consumption point of view, and this is also an ultimate ...dynamic walking mecha- nism to gait synthesis of biped robots, it ...
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Effect of Step Length and Step Period on Walking Speed and Energy Consumption: a Parameter Study
... a biped needs to follow specific pattern to comply with a stability criterion such as zero moment ...in pattern of motion and consequently affects major characteristics of motion such as stability, ...
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Stable Walking Motion NAO Humanoid Robot Using Cubic Polynomial Method
... Somehow, people walk in distinctive ways. There are so many variations of walking that some contend there is no normal walking pattern. For example, some people nearly skip the heel in the forward ...
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Idiopathic toe walking and sensory processing dysfunction
... Shulman et al [30], conducted a prospective, descrip- tive study without control, which involved gross motor skill and sensory processing tests on children diagnosed with ITW. The aim of the study was to examine the ...
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Diagonals part eight: Stroke 6. Analysis of walking pattern and treatment
... of walking after an ...the pattern of the leg us le a e defi iti e after an short ...this pattern are only investigated by patient treated in rehabilitation center ( in the Netherlands 10 -15% of the ...
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A. Mechanism Design of Biped Robot
... it makes various patterns by responding sensitively to them. Posture angle and the foot force information of biped robot were set as the external input for CPG, in order to generate the rhythm to stabilize the ...
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A New Tapered Slot Antenna with Symmetrical and Stable Radiation Pattern
... comparatively stable, symmetrical pattern and low side lobes over the operating band as well as obviously higher gain and sharper beam width in the low frequency section in comparison with the one without ...
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Modelling of the Biped Robot with 10 DoF
... Abstract: First, a brief overview is provided on humanoid robots, and also models for the dynamic behavior are discussed. As base for these models these two methods Denavit-Hartenberg and Newton-Euler are used. Main aim ...
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Design and Implementation of BIPED Robot using dsPIC30F2010 controller
... A Biped Robot being designed and which is controlled by servo motor controller using dsPIC30F2010 is proposed in this paper. An extensive Literature Survey conducted for the project gave profound insight on the ...
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Modeling Walking with an Inverted Pendulum Not Constrained to the Sagittal Plane Numerical Simulations and Asymptotic Expansions
... Inverted pendulum models are commonly used to study the bio-mechanics of biped walkers. In its simplest form, the inverted pendulum consists of a point mass attached to two straight mass-less legs. Most works ...
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INTELLIGENT BIPED ROBOT
... In general, a bipedal locomotion system consists of several members are interconnected with actuated joints. In essence, a man-made walking robot is nothing more than a robotic manipulator with a detachable and ...
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Robust Trajectory Free Model Predictive Control of Biped Robots with Adaptive Gait Length
... the biped robots, the motion planning ...gait pattern would facilitate best the biped robot motion ...the biped motion control since the biped robot may have normal and acceptable walk ...
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Collision Avoidance Control for Mobile Robot Based on Online Analysis of Walking Pattern
... It has been shown in this paper a collision avoidance control method with a autonomous moving robot consid- ering interactive behavior between robot and pedestrian. The avoidance starting point and the conditions to ...
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Application of neural oscillators to study the effects of walking speed on rhythmic activations at the ankle
... Walking at a slower or faster pace creates different motor demands on the neural system. A number of gait components such as stance and swing phase intervals and muscle activations change with increasing speed. ...
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Interlimb Coordination During Slow Walking in the Cockroach: II Effects of Cutting Thoracic Connectives
... After 20-36 days, the walking behaviour of operated animals again becomes stable, with a level of variability measured by the circular standard deviation of phase distributions comparabl[r] ...
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A Wideband Dual-Polarized Dipole Antenna for Base Station Applications
... Abstract—In this letter, a wideband dual-polarized dipole antenna is proposed for base station applications. By bending the arms of the dipole, the radiator size is reduced. Meanwhile, a new resonant mode occurs at high ...
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Factoring the Proto biped Infant into the Origin of Bipedalism
... measurement of oxygen consumption during load-bearing and non-load-bearing walking (e.g. Wall-Scheffler et al. 2007, Watson et al. 2008). Some studies of callitrichids have used percentage of carrier weight loss ...
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Walking Stability Control System On Humanoid When Turning Based On LQR Method
... Static walking patterns are used to achieve robot ...static walking pattern is obtained when CoM never comes out of the area of stability, namely the convex hull from all points of contact between ...
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Zeno, The Mobile Controlled Cognizant Biped
... In [1] Al-Jazari described a band made up of humanoid automata which performed more than fifty facial and body actions during each musical selection. He also created hand washing automata with automatic humanoid ...
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