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legged robot 3

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in-situ machining 1

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Biological gait torque 1

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Modeling and simulation of normal and hemiparetic gait

Lely A. LUENGAS,Esperanza CAMARGO,Giovanni SANCHEZ

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 3,   Pages 233-241 doi: 10.1007/s11465-015-0343-0

Abstract:

Gait is the collective term for the two types of bipedal locomotion, walking and running.This paper is focused on walking.Here we present a new model that is capable of reproducing the properties of walking, normal and pathologicalThe aim of this paper is to establish the biomechanical principles that underlie human walking by usingThe dynamic walking approach provides a new perspective of gait analysis, focusing on the kinematics

Keywords： bipedal gait     biomechanics     dynamic walking     gait model     human gait     hemiparetic human gait    

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An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 1,   Pages 95-103 doi: 10.1007/s11465-013-0357-4

Abstract:

In this paper, an experimental analysis of human straight walking has been presented.Experiments on human walking were carried out by using Cassino tracking system which is a passive cable-basedFurthermore, by using experimental tests, modeling and characterization of the human straight walkinggait have been proposed.

Keywords： human locomotion     walking gait     characterization     humanoid robot     biped robot    

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Recognition of walking environments and gait period by surface electromyography Special Feature on Intelligent Robats

Seulki KYEONG, Wonseok SHIN, Minjin YANG, Ung HEO, Ji-rou FENG, Jung KIM

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 3,   Pages 342-352 doi: 10.1631/FITEE.1800601

Abstract: Before using a lower limb exoskeleton to help in walking, the aim of this work is to distinguish thewalking environment and gait period using various sensors, including the surface electromyography (sEMGThe purpose of this paper is to show progress with the use of sEMG when recognizing walking environmentsand the gait period with other sensors.When four sensor combinations were used, the environment classification accuracy was 96.1%, and the gait

Keywords： Walking environment     Gait Period     Surface electromyography (sEMG)     Exoskeleton    

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DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking Article

Hongfei Wang, Shimeng Li, Yuan F. Zheng

Engineering 2015, Volume 1, Issue 1,   Pages 36-45 doi: 10.15302/J-ENG-2015006

Abstract: approaches for the Rough-Terrain task, such as enlarged foot pedals and a transformation into quadruped walkingWe also introduce a new gait for humanoid robot locomotion to improve stability performance, called theSki-Type gait.We analyze the stability performance of this gait and use the stability margin to choose between twoFinally, we compare our experimental results with biped walking to validate the Ski-Type gait.

Keywords： humanoid robot     DARPA robotics challenge (DRC)     rough-terrain walking     Ski-Type gait    

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Landing control method of a lightweight four-legged landing and walking robot

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0707-1

Abstract: A lightweight four-legged landing and walking robot called “FLLWR” is designed in this study.integrates the functions of a lander and a rover, including folding, deploying, repetitive landing, and walking

Keywords： landing and walking robot     lunar exploration     buffer landing     compliance control    

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Footholds optimization for legged robots walking on complex terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0742-y

Abstract: This paper proposes a novel continuous footholds optimization method for legged robots to expand their walkingagainst slipping or tripping on the edge of obstacles, and to improve its stability and safety when walkingWe successfully implemented the algorithm on a hexapod robot, and verified its feasibility in a walking

Keywords： footholds optimization     legged robot     complex terrain adapting     hexapod robot     locomotion control    

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A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 144-158 doi: 10.1007/s11465-016-0391-0

Abstract:

A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor isPlanning of the biped walking gait is performed by coordinating the motions of the two leg mechanismsMSC.ADAMS® environment with the aims of characterizing and evaluating the dynamic walkingof the biped locomotor is built for the purpose of evaluating the operation performance of the biped walkinggait of the proposed locomotor.

Keywords： feasibility study     biped locomotor     biped walking     mechanical design     dynamic simulation     tripod leg mechanism    

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Image-based fall detection and classification of a user with a walking support system

Sajjad TAGHVAEI, Kazuhiro KOSUGE

Frontiers of Mechanical Engineering 2018, Volume 13, Issue 3,   Pages 427-441 doi: 10.1007/s11465-017-0465-7

Abstract: This study investigates an image-based classification of the human state while using a walking supportpossible human behavior while utilizing a walker robot into eight states (i.e., sitting, standing, walkingThe first method shows that the centroid position follows a normal distribution while walking, whichcan be adopted to detect any non-walking state.the motion of a passive-type walker (called “RT Walker”) by activating its brakes in non-walking

Keywords： fall detection     walking support     hidden Markov model     multivariate analysis    

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Harvesting biomechanical energy in the walking by shoe based on liquid metal magnetohydrodynamics

Dan DAI, Jing LIU, Yixin ZHOU

Frontiers in Energy 2012, Volume 6, Issue 2,   Pages 112-121 doi: 10.1007/s11708-012-0186-x

Abstract: system (LMMGS) was proposed and demonstrated in this paper for collecting parasitic power in shoe while walkingWhile walking with the LMMGS, the foot alternately presses the two liquid metal pumps (LMPs) which are

Keywords： human energy harvesting     liquid metal     wearable magnetohydrodynamics generator     parasitic power in shoe    

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A novel six-legged walking machine tool for

Jimu LIU, Yuan TIAN, Feng GAO

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 3,   Pages 351-364 doi: 10.1007/s11465-020-0594-2

Abstract: This study proposes a novel six-legged walking machine tool consisting of a legged mobile robot and aThe repeatability of the head motion, body motion, and walking distance is evaluated through experimentsFinally, an application scenario is shown in which the walking machine tool steps successfully over arationality of the hierarchical motion planning scheme and demonstrate the extensive potential of the walking

Keywords： legged robot     parallel mechanism     mobile machine tool     in-situ machining    

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Design of active orthoses for a robotic gait rehabilitation system

A. C. VILLA-PARRA,L. BROCHE,D. DELISLE-RODRÍGUEZ,R. SAGARÓ,T. BASTOS,A. FRIZERA-NETO

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 3,   Pages 242-254 doi: 10.1007/s11465-015-0350-1

Abstract:

An active orthosis (AO) is a robotic device that assists both human gait and rehabilitation therapyBoth AOs will be used to complete a robotic system that improves gait rehabilitation.However, the potential of the proposed AOs to be part of a robotic gait rehabilitation system that improves

Keywords： active orthosis     gait rehabilitation     electroencephalography     surface electromyography    

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Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral Research Articles

Donghai WANG

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 6,   Pages 920-936 doi: 10.1631/FITEE.2000465

Abstract:

This paper presents a gait-synchronization system to help potential unilateral knee-injured peopleknee-injured leg and synchronizes its motion with that of the healthy leg during the swing phase of walkingThe gait-synchronization system is integrated with a designed to sense the motion/gait of the healthyGuided by the measured joint-angle trajectories, the motorized hip joint lifts the links during walkingand synchronizes the knee-injured gait with the healthy gait by a half-cycle delay.

Keywords： Sensor-guided     Lower-extremity-exoskeleton     Body sensor network     Gait synchronization     Weight-support    

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Vibration Serviceability of Large-span Steel–Concrete Composite Beam with Precast Hollow Core Slabs Under Walking Article

Jiepeng Liu, Shu Huang, Jiang Li, Y. Frank Chen

Engineering 2022, Volume 19, Issue 12,   Pages 93-104 doi: 10.1016/j.eng.2021.04.025

Abstract: To alleviate vibrations, both the walking forces excited by humans and the associated floor responsesIn this study, 150 load–time histories of walking, excited by 25 test participants, are obtainedThe dynamic loading factors and phase angles in the Fourier series functions for one-step walking areSubsequently, walking tests are performed on seven CBHCS specimens to capture the essential dynamic properties

Keywords： Composite beam     Hollow core slab     Walking force     Floor vibration     Mode shape    

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Mechanical Analysis and Performance Optimization for the Lunar Rover’s Vane-Telescopic Walking Wheel Article

Lu Yang, Bowen Cai, Ronghui Zhang, Kening Li, Zixian Zhang, Jiehao Lei, Baichao Chen, Rongben Wang

Engineering 2020, Volume 6, Issue 8,   Pages 936-943 doi: 10.1016/j.eng.2020.07.009

Abstract: First, a new vane-telescopic walking wheel was proposed for the lunar rover with a positive and negative

Keywords： Intelligent vehicle     Vane-telescopic walking wheel     Performance optimization     Vane spring     Lunar rover    

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Control strategy for gait transition of an underactuated 3Dbipedal robot Research Articles

Hai-hui YUAN, Yi-min GE, Chun-biao GAN

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 8,   Pages 1026-1035 doi: 10.1631/FITEE.1800206

Abstract: In reality, bipedal robots are often required to perform gait transitions to achieve flexible walkingIn this paper, we consider the gait transition of a five-link underactuated three-dimensional (3D) bipedalupdated by an adaptive control law, and a transition controller that guides the robot from the current gaitto a neighboring point of the target gait so that the state trajectory can smoothly converge to thetarget gait.

Keywords： Gait transition     Underactuated three-dimensional biped     Event-based feedback controller     Adaptive control    

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Title Author Date Type Operation

Modeling and simulation of normal and hemiparetic gait

Lely A. LUENGAS,Esperanza CAMARGO,Giovanni SANCHEZ

Journal Article

An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

Journal Article

Recognition of walking environments and gait period by surface electromyography

Seulki KYEONG, Wonseok SHIN, Minjin YANG, Ung HEO, Ji-rou FENG, Jung KIM

Journal Article

DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking

Hongfei Wang, Shimeng Li, Yuan F. Zheng

Journal Article

Landing control method of a lightweight four-legged landing and walking robot

Journal Article

Footholds optimization for legged robots walking on complex terrain

Journal Article

A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Journal Article

Image-based fall detection and classification of a user with a walking support system

Sajjad TAGHVAEI, Kazuhiro KOSUGE

Journal Article

Harvesting biomechanical energy in the walking by shoe based on liquid metal magnetohydrodynamics

Dan DAI, Jing LIU, Yixin ZHOU

Journal Article

A novel six-legged walking machine tool for

Jimu LIU, Yuan TIAN, Feng GAO

Journal Article

Design of active orthoses for a robotic gait rehabilitation system

A. C. VILLA-PARRA,L. BROCHE,D. DELISLE-RODRÍGUEZ,R. SAGARÓ,T. BASTOS,A. FRIZERA-NETO

Journal Article

Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral

Donghai WANG

Journal Article

Vibration Serviceability of Large-span Steel–Concrete Composite Beam with Precast Hollow Core Slabs Under Walking

Jiepeng Liu, Shu Huang, Jiang Li, Y. Frank Chen

Journal Article

Mechanical Analysis and Performance Optimization for the Lunar Rover’s Vane-Telescopic Walking Wheel

Lu Yang, Bowen Cai, Ronghui Zhang, Kening Li, Zixian Zhang, Jiehao Lei, Baichao Chen, Rongben Wang

Journal Article

Control strategy for gait transition of an underactuated 3Dbipedal robot

Hai-hui YUAN, Yi-min GE, Chun-biao GAN

Journal Article