Gait pattern of legged robot caused by floor reaction force equalization constraint

2020 ◽  
Vol 2020 (0) ◽  
pp. 2A2-L16
Author(s):  
Gakuto FUJIOKA ◽  
Sungi KIM ◽  
Shuya ISHIKAWA ◽  
Yu SAKAMOTO ◽  
Tomoya WATANABE ◽  
...  
Keyword(s):  
Reaction Force ◽  
Gait Pattern ◽  
Legged Robot ◽  
Floor Reaction Force

An Underactuated, Magnetic-Foot Robot for Steel Bridge Inspection

2010 ◽  
Vol 2 (3) ◽  
Author(s):  
Anirban Mazumdar ◽  
H. Harry Asada
Keyword(s):  
Permanent Magnets ◽  
Reaction Force ◽  
Steel Structure ◽  
Gait Pattern ◽  
Steel Bridge ◽  
Legged Robot ◽  
Proof Of Concept ◽  
Bridge Inspection ◽  
Gait Patterns ◽  
Static Conditions

A legged robot that moves across a steel structure is developed for steel bridge inspection. Powerful permanent magnets imbedded in each foot allow the robot to hang from a steel ceiling powerlessly. Although the magnets are passive, the attractive force is modulated by tilting the foot against the steel surface. This allows the robot to slide its feet along the surface using “moonwalk” and “shuffle” gait patterns. The robot can also detach its feet and “swing” them over small obstacles. These diverse walking patterns are created with a single servoed joint and two sets of simple locking mechanisms. Kinematic and static conditions are obtained for the underactuated legged robot to perform each gait pattern safely and stably. A dynamic model is built for swinging a leg, and a desirable swing trajectory that keeps the foot reaction force lower than its limit is obtained. A proof-of-concept prototype robot is designed, built, and tested. Experiments demonstrate the feasibility of the design concept and verify the analytical results.

Near-Optimal Trajectory Generation of a Two-Legged Robot with Soft Sole on Staircase using PSO and ABC

2015 ◽  
Vol 3 (2) ◽  
pp. 1-19
Author(s):  
Naga Sudha Rani B ◽  
Vundavilli Pandu Ranga
Keyword(s):  
Dynamic Balance ◽  
Reaction Force ◽  
Biped Robot ◽  
Legged Robot ◽  
Walking Machine ◽  
Bee Colony ◽  
Zero Moment ◽  
Lumped Masses ◽  
Least Energy ◽  
Generation Problem

During biped locomotion the foot ground interaction plays an important role, as it takes the reaction force acting on the foot and allows stable walking of the biped robot. Generally, the foot is considered to be hard to solve the gait generation problem and dynamic balance aspects of the two-legged robot. However, a layer of rubber is placed on the sole of the robot to act as a shock absorber for all practical purposes. It is important to note that the soft sole gets deformed during walking of the robot and allows the limbs of the robot to bend that influences the dynamic balance of the walking machine. The aim of this study is to use two different non-traditional optimization algorithms, such as particle swarm optimization (PSO) and artificial bee colony (ABC) algorithms to obtain the optimal hip trajectory, damping coefficient and position of the lumped masses for a 7-DOF biped robot ascending the staircase. The dynamic balance of the gaits generated with soft sole is verified using the concept of zero moment point (ZMP). Further, the energy consumed in ascending the staircase with and without soft sole has been computed. The results of this study proved that, least energy is consumed with soft sole having correction for the deformation.

scholarly journals Estimate of Floor Reaction Force Vector Using Foot-Pressure Sensors

2008 ◽  
Vol 74 (739) ◽  
pp. 749-751 ◽  
Author(s):  
Kazuto MIYAWAKI ◽  
Takehiro IWAMI ◽  
Goro OBINATA ◽  
Yoichi SHIMADA
Keyword(s):  
Reaction Force ◽  
Pressure Sensors ◽  
Force Vector ◽  
Foot Pressure ◽  
Floor Reaction Force

scholarly journals THE EFFECT OF LOAD CARRIAGE AMONG PRIMARY SCHOOL BOYS: A PRELIMINARY STUDY

2007 ◽  
Vol 07 (03) ◽  
pp. 265-274 ◽  
Author(s):  
H. N. SHASMIN ◽  
N. A. ABU OSMAN ◽  
R. RAZALI ◽  
J. USMAN ◽  
W. A. B. WAN ABAS
Keyword(s):  
Body Weight ◽  
Reaction Force ◽  
Gait Pattern ◽  
Load Carriage ◽  
3D Motion Analysis ◽  
Trunk Inclination ◽  
Significant Difference ◽  
Analysis System ◽  
Similar Body ◽  
The Impact

Backpack carrying is a considerable daily "occupational" load among schoolchildren. Most of the research on children's backpacks have focused on gait pattern and trunk forward lean; only a few researches have investigated the impact of backpack carrying on children using the measurements of static posture and gait kinetics. This study investigated the changes in ground reaction force (GRF) and trunk inclination among primary students when carrying heavy backpacks. A randomized controlled experimental study was conducted on seven boys aged between 9 and 11 years old with a similar body mass index. Observations were done when the boys were carrying school bags of 0% (as control), 10%, 15%, and 20% of their own body weight while walking normally. Data acquisition was carried out using force platforms and a 3D motion analysis system. A significant difference in GRF at a load of 20% of body weight was found: the vertical GRF increased almost three times when loads increased up to 20% of body weight compared to 10% of body weight. The anterior–posterior GRFs were asymmetrical when loads were increased. When carrying a load of 15% of body weight, all of the seven subjects adopted a compensatory trunk inclination. The emphasis on GRF and trunk inclination suggests that the safest load applied does not exceed 15% of body weight.

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

J1040103 Influence of Posture on the Muscle Activity and Floor Reaction Force in Reach Movement by Healthy Subjects

2015 ◽  
Vol 2015 (0) ◽  
pp. _J1040103--_J1040103-
Author(s):  
Shinnosuke ATARASHI ◽  
Atsuhiko SHINTANI ◽  
Ryo YONETSU ◽  
Chihiro NAKAGAWA ◽  
Tomohiro ITO
Keyword(s):  
Muscle Activity ◽  
Healthy Subjects ◽  
Reaction Force ◽  
Floor Reaction Force

Effects of Medial Thrust Gait on Lower Extremity Kinetics in Patients with Knee Osteoarthritis

2021 ◽  
Vol 23 (2) ◽  
pp. 115-120
Author(s):  
Hamid Reza Bokaeian ◽  
Fateme Esfandiarpour ◽  
Shahla Zahednejad ◽  
Hossein Kouhzad Mohammadi ◽  
Farzam Farahmand
Keyword(s):  
Lower Extremity ◽  
Knee Osteoarthritis ◽  
Center Of Pressure ◽  
Reaction Force ◽  
Gait Pattern ◽  
Mean Difference ◽  
Knee Adduction Moment ◽  
Camera Motion ◽  
Normal Gait ◽  
Significant Difference

Background. Medial thrust (MT) gait is a nonsurgical approach for reducing the knee adduction moment (KAM) in patients with knee osteoarthritis. However, its usefulness is indeterminate due to scarcity of research about changes in lower extremity kinetics and the ground reaction force (GRF) which have been investigated in this study. Materials and methods. Twenty patients (6 males, 14 females, age: 56.2±6.2 years) with medial knee osteo­arthritis participated in this cross-sectional study. A 12-camera motion analysis system and two force plates recorded kinematic and GRF data while participants walked barefoot along a 12m path with 1) their regular gait pattern and 2) MT gait pattern. The first peak adduction and flexion moments of the hip, knee, and ankle, and the sagittal and frontal GRF were measured. The center of pressure (CoP) location in the mediolateral direction at first KAM peak was also determined. Results. MT gait significantly reduced the first KAM peak (mean difference= 169.7, p<0.001) and the hip flexion moment (mean difference: 82.6, p= 0.020) compared to normal gait. The mediolateral CoP significantly shifted laterally during MT gait compared to normal gait (mean difference: -12% foot width, p<0.001). There was no significant difference in other kinetics variables between the two gait patterns (p>0.05). Conclusions. 1. Our findings show that MT gait can reduce the KAM with no significant increase in the GRF and other lower extremity moments. 2. The results suggest that the reduced KAM associated with MT gait is caused by a lateral shift of the CoP, resulting in a reduced GRF moment arm.

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