1320 A Study on Generating of Walking Gait Pattern of Two-Legged Robot based on Maximizing Speed by using the Genetic Algorithm

2014 ◽  
Vol 2014.51 (0) ◽  
pp. _1320-1_-_1320-2_
Author(s):  
Takaya YAMAGUCHI ◽  
Naoki NISIKAWA ◽  
Garuda FUJII ◽  
Masayuki NAKAMURA
Keyword(s):  
Genetic Algorithm ◽  
Gait Pattern ◽  
Legged Robot ◽  
Walking Gait

Design of a 6-DOF Robotic Gait Training System With Closed-Chain Foot Initiated Kinematics Control

2015 ◽  
Author(s):  
Wei Liu ◽  
John Kovaleski ◽  
Marcus Hollis
Keyword(s):  
Three Dimensional ◽  
Computer Software ◽  
Gait Training ◽  
Gait Pattern ◽  
Training System ◽  
Normal Walking ◽  
Robot Assisted ◽  
Walking Gait ◽  
The Right ◽  
Joint Motions

Robotic assisted rehabilitation, taking advantage of neuroplasticity, has been shown to be helpful in regaining some degree of gait performance. Robot-applied movement along with voluntary efferent motor commands coordinated with the robot allows optimization of motion training. We present the design and characteristics of a novel foot-based 6-degree-of-freedom (DOF) robot-assisted gait training system where the limb trajectory mirrored the normal walking gait. The goal of this study was to compare robot-assisted gait to normal walking gait, where the limb moved independently without robotics. Motion analysis was used to record the three-dimensional kinematics of the right lower extremity. Walking motion data were determined and transferred to the robotic motion application software for inclusion in the robotic trials where the robot computer software was programmed to produce a gait pattern in the foot equivalent to the gait pattern recorded from the normal walking gait trial. Results demonstrated that ankle; knee and hip joint motions produced by the robot are consistent with the joint motions in walking gait. We believe that this control algorithm provides a rationale for use in future rehabilitation, targeting robot-assisted training in people with neuromuscular disabilities such as stroke.

scholarly journals Online Biped Walking Pattern Generation with Contact Consistency

2015 ◽  
Vol 4 (1) ◽  
pp. 19
Author(s):  
Wenqi Hou ◽  
Jian Wang ◽  
Jianwen Wang ◽  
Hongxu Ma
Keyword(s):  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Task Space ◽  
Biped Walking ◽  
Foot Placement ◽  
Walking Gait ◽  
Walking Pattern ◽  
Generating Method ◽  
Stable Periodic

In this paper, a novel online biped walking gait pattern generating method with contact consistency is proposed. Generally, it’s desirable that there is no foot-ground slipping during biped walking. By treating the hip of the biped robot as a linear inverted pendulum (LIP), a foot placement controller that takes the contact consistency into account is proposed to tracking the desired orbit energy. By selecting the hip’s horizontal locomotion as the parameter, the trajectories in task space for walking are planned. A task space controller without calculating the inversion of inertial matrix is presented. Simulation experiments are implemented on a virtual 5-link point foot biped robot. The results show the effectiveness of the walking pattern generating method which can realize a stable periodic gait cycle without slipping and falling even suffering a sudden disturbance.

The adaptable amphibious wheel-legged robot

2018 ◽  
Vol 42 (3) ◽  
pp. 323-339
Author(s):  
Jicheng Liu ◽  
Jinshuai Yang ◽  
Binglu Yan ◽  
Zheng Liu
Keyword(s):  
Large Diameter ◽  
Kinematic Model ◽  
Three Dimensional ◽  
Legged Robot ◽  
Loop Control ◽  
Walking Gait ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Amphibious Robot ◽  
Foot Trajectory

A new category of large-diameter adaptable amphibious wheel-legged robot is proposed in this paper. The proposed mechanism can climb obstacles better than existing designs. The Denavit–Hartenberg (D–H) coordinate system is used for kinematic analysis, and the constructed kinematic model is used to solve for these joint variables for a redundant robot. The control strategy is to plan both the foot trajectory of the amphibious robot, to optimize the operational performance in special environments, as well as the walking gait. Then the closed-loop control system is used. A simulation is used to verify the usefulness of the planned foot trajectory and walking gait for an entire running cycle, and a circuit is designed to solve a communication problem between the Arduino and the AX-12 servo. Finally, the foot trajectory of a single robot leg is captured by a three-dimensional motion-capture system to verify the rationality of the foot trajectory and walking gait.

Application of Floquet Theory to Human Gait Kinematics and Dynamics

2021 ◽  
pp. 1-35
Author(s):  
Sandesh G. Bhat ◽  
Susheelkumar Cherangara Subramanian ◽  
Thomas S Sugar ◽  
Sangram Redkar
Keyword(s):  
Floquet Theory ◽  
Gait Pattern ◽  
Human Gait ◽  
Reduced Order ◽  
Oscillator System ◽  
Walking Gait ◽  
Gait Kinematics ◽  
Dimension Analysis ◽  
Time Trace ◽  
Original Domain

Abstract In this work, the lower extremity physiological parameters are recorded during normal walking gait, and the dynamical systems theory is applied towards its stability analysis. The human walking gait pattern of kinematic and dynamical data is approximated to periodic behavior. The embedding dimension analysis of the kinematic variable's time trace and use of Taken's theorem allows us to compute a reduced-order time series that retains the essential dynamics. In conjunction with Floquet Theory, this approach can help study the system's stability characteristics. The Lyapunov-Floquet (L-F) Transformation application results in constructing an invariant manifold resembling the form of a simple oscillator system. It is also demonstrated that the simple oscillator system, when re-mapped back to the original domain, reproduces the original system's time evolution (hip angle or knee angle, for example). A re-initialization procedure is suggested that improves the accuracy between the processed data and actual data. The theoretical framework proposed in this work is validated with the experiments using a motion capture system.

scholarly journals Insect–computer hybrid legged robot with user-adjustable speed, step length and walking gait

2016 ◽  
Vol 13 (116) ◽  
pp. 20160060 ◽  
Author(s):  
Feng Cao ◽  
Chao Zhang ◽  
Hao Yu Choo ◽  
Hirotaka Sato
Keyword(s):  
Walking Speed ◽  
Step Length ◽  
Legged Robot ◽  
Step Frequency ◽  
Locomotion Control ◽  
Insect Locomotion ◽  
Implanted Electrodes ◽  
Walking Gait ◽  
Leg Muscles ◽  
Adjustable Speed

We have constructed an insect–computer hybrid legged robot using a living beetle ( Mecynorrhina torquata ; Coleoptera). The protraction/retraction and levation/depression motions in both forelegs of the beetle were elicited by electrically stimulating eight corresponding leg muscles via eight pairs of implanted electrodes. To perform a defined walking gait (e.g. gallop), different muscles were individually stimulated in a predefined sequence using a microcontroller. Different walking gaits were performed by reordering the applied stimulation signals (i.e. applying different sequences). By varying the duration of the stimulation sequences, we successfully controlled the step frequency and hence the beetle's walking speed. To the best of our knowledge, this paper presents the first demonstration of living insect locomotion control with a user-adjustable walking gait, step length and walking speed.

Design and Evaluation of a Knee Actuator for a Dynamic Knee-Ankle-Foot Orthosis

2014 ◽  
Author(s):  
Feng Tian ◽  
Mohammad Elahinia ◽  
Mohamed Samir Hefzy
Keyword(s):  
Knee Joint ◽  
Gait Cycle ◽  
Gait Pattern ◽  
Walking Ability ◽  
Hydraulic Systems ◽  
Walking Gait ◽  
Normal Knee ◽  
Actuation System ◽  
Normal Gait ◽  
In Series

Dynamic KAFOs are developed to recover the normal walking ability during both stance and swing phases. Three types of dynamic KAFOs have been reported in the literature. Various actuation mechanisms including spring, pneumatic and hydraulic systems have been used. These devices can improve walking disability and compensate lower leg muscle deficiency. However, they are bulky, in some cases need complex control systems and do not recreate the normal gait pattern. These shortcomings have limited the application of dynamic KAFOs in daily life. The purpose of this paper is to develop a novel knee actuator for a dynamic KAFO that is actuated easily by employing shape memory materials. Such an actuation system makes the KAFO lightweight and has a greater potential to restore the normal gait. Torsional superelastic alloys are used in this actuator in order to match the stiffness of the knee joint of the KAFO with that of a normal knee joint during the walking gait cycle. There are two distinct parts in the knee actuator, acting independently to mimic the two phases of the gait cycle. One engages only in the stance phase and the other works in the swing phase. Each part is developed by combining a superelastic rod and a stiff rotary spring, in series. According to numerical simulation, such combination reproduces the varying knee stiffness during the whole walking gait. Also mechanical experiments have been conducted to further verify the conceptual design. The simulation and experimental results show that the actuator is able to reproduce the stiffness of the normal knee joint during the gait cycle.

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