Dynamic instant gait stability measure for quadruped walking robot

Robotica ◽  
1999 ◽  
Vol 17 (1) ◽  
pp. 59-70 ◽  
Author(s):  
Tae-Wan Koo ◽  
Yong-San Yoon
Keyword(s):  
Dynamic Model ◽  
Mathematic Model ◽  
Walking Robot ◽  
Gait Stability ◽  
Stability Measure ◽  
Lagrange’S Equation ◽  
Gait Parameters ◽  
Quadruped Walking Robot ◽  
Matrix Vector ◽  
Dynamic Gait

A mathematic model is developed for a quadruped walking robot to investigate the dynamic stability considering all the inertial effects in the system including those of legs. The dynamic model is derived based on Lagrange's equation using matrix-vector notations for the simpler expression. Then an instant gait stability measure is proposed to apply to dynamic gait as well as static gait. The gait stability measure is obtained from the angular momentum of the system about the supporting edges in the quadrupedal gait of +x type. The validity of the gait stability measure is examined along with the gait stability analysis for several representative gait parameters using the developed dynamic model.

A dynamic model of an underwater quadruped walking robot using Kane’s method

2014 ◽  
Vol 19 (2) ◽  
pp. 160-168 ◽  
Author(s):  
Ke Yang ◽  
Xu-yang Wang ◽  
Tong Ge ◽  
Chao Wu
Keyword(s):  
Dynamic Model ◽  
Walking Robot ◽  
Kane’S Method ◽  
Kane's Method ◽  
Quadruped Walking Robot

To What Extent Does Not Wearing Shoes Affect the Local Dynamic Stability of Walking?: Effect Size and Intrasession Repeatability

2014 ◽  
Vol 30 (2) ◽  
pp. 305-309 ◽  
Author(s):  
Philippe Terrier ◽  
Fabienne Reynard
Keyword(s):  
Dynamic Stability ◽  
Effect Size ◽  
Intraclass Correlation ◽  
Clinical Findings ◽  
Local Dynamic ◽  
Gait Stability ◽  
Local Dynamic Stability ◽  
Gait Parameters ◽  
Absolute Agreement ◽  
The Stability

Local dynamic stability (stability) quantifies how a system responds to small perturbations. Several experimental and clinical findings have highlighted the association between gait stability and fall risk. Walking without shoes is known to slightly modify gait parameters. Barefoot walking may cause unusual sensory feedback to individuals accustomed to shod walking, and this may affect stability. The objective was therefore to compare the stability of shod and barefoot walking in healthy individuals and to analyze the intrasession repeatability. Forty participants traversed a 70 m indoor corridor wearing normal shoes in one trial and walking barefoot in a second trial. Trunk accelerations were recorded with a 3D-accelerometer attached to the lower back. The stability was computed using the finite-time maximal Lyapunov exponent method. Absolute agreement between the forward and backward paths was estimated with the intraclass correlation coefficient (ICC). Barefoot walking did not significantly modify the stability as compared with shod walking (average standardized effect size: +0.11). The intrasession repeatability was high (ICC: 0.73–0.81) and slightly higher in barefoot walking condition (ICC: 0.81–0.87). Therefore, it seems that barefoot walking can be used to evaluate stability without introducing a bias as compared with shod walking, and with a sufficient reliability.

Effects of turning gait parameters on energy consumption and stability of a six-legged walking robot

2012 ◽  
Vol 60 (1) ◽  
pp. 72-82 ◽  
Author(s):  
Shibendu Shekhar Roy ◽  
Dilip Kumar Pratihar
Keyword(s):  
Energy Consumption ◽  
Walking Robot ◽  
Gait Parameters

Center of Pressure Trajectory and Spatiotemporal Gait Parameters When Walking with Limited Knee Flexion

2021 ◽  
Vol 65 (1) ◽  
pp. 1490-1493
Author(s):  
Seobin Choi ◽  
Jieon Lee ◽  
Gwanseob Shin
Keyword(s):  
Knee Flexion ◽  
Stance Phase ◽  
Center Of Pressure ◽  
Dynamic Balance ◽  
Left Knee ◽  
Step Width ◽  
Normal Walking ◽  
Gait Stability ◽  
Gait Parameters ◽  
Stiff Knee

Stiff-knee, which indicates reduced range of knee flexion, may decrease gait stability. Although it is closely related to an increase in fall risk, the effect of limited knee flexion on the balance capacity during walking has not been well studied. This study aimed at examining how walking with limited knee flexion would influence the center of pressure (COP) trajectory and spatiotemporal gait parameters. Sixteen healthy young participants conducted four different walking conditions: normal walking and walking with limited knee flexion of their left knee up to 40 and 20 degrees, respectively. Results show that the participants walked significantly (p<0.05) slower with shorter stride length, wider step width, less cadence, and decreased stance phase when walking with limited knee flexion, compared to normal walking. The increase in the asymmetry and variability of the COP was also observed. It indicates that limited knee flexion during walking might affect the dynamic balance.

Gait Analysis of a Quadruped Walking Robot with Vertical Waist-joint on Slope

2009 ◽  
Vol 42 (13) ◽  
pp. 507-512
Author(s):  
SEHOON PARK ◽  
YUN-JUNG LEE
Keyword(s):  
Gait Analysis ◽  
Walking Robot ◽  
Quadruped Walking Robot

scholarly journals Gait Parameter Adjustments for Walking on a Treadmill at Preferred, Slower, and Faster Speeds in Older Adults with Down Syndrome

2012 ◽  
Vol 2012 ◽  
pp. 1-7 ◽  
Author(s):  
Beth A. Smith ◽  
Masayoshi Kubo ◽  
Beverly D. Ulrich
Keyword(s):  
Older Adults ◽  
Down Syndrome ◽  
Stride Frequency ◽  
Gait Patterns ◽  
Gait Stability ◽  
Foot Placement ◽  
Gait Parameters ◽  
Younger Age ◽  
All Speeds ◽  
Walking Speeds

The combined effects of ligamentous laxity, hypotonia, and decrements associated with aging lead to stability-enhancing foot placement adaptations during routine overground walking at a younger age in adults with Down syndrome (DS) compared to their peers with typical development (TD). Our purpose here was to examine real-time adaptations in older adults with DS by testing their responses to walking on a treadmill at their preferred speed and at speeds slower and faster than preferred. We found that older adults with DS were able to adapt their gait to slower and faster than preferred treadmill speeds; however, they maintained their stability-enhancing foot placements at all speeds compared to their peers with TD. All adults adapted their gait patterns similarly in response to faster and slower than preferred treadmill-walking speeds. They increased stride frequency and stride length, maintained step width, and decreased percent stance as treadmill speed increased. Older adults with DS, however, adjusted their stride frequencies significantly less than their peers with TD. Our results show that older adults with DS have the capacity to adapt their gait parameters in response to different walking speeds while also supporting the need for intervention to increase gait stability.

scholarly journals Development of Track-changeable Quadruped Walking Robot TITAN X-Design of Leg Driving Mechanism and Basic Experiment-

2010 ◽  
Vol 28 (7) ◽  
pp. 872-879
Author(s):  
Ryuichi Hodoshima ◽  
Yasuaki Fukumura ◽  
Hisanori Amano ◽  
Shigeo Hirose
Keyword(s):  
Driving Mechanism ◽  
Walking Robot ◽  
Basic Experiment ◽  
Quadruped Walking Robot
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