Biped Locomotion and Walking Machine.

Locomotion pattern generation and mechanisms of a new biped walking machine

This paper describes the mechanism of a 16 d.f. biped walking machine, Waseda biped humanoid robot-2 lower limb (WABIAN-2LL), which has two 7 d.f. legs and a 2 d.f. waist actuated by DC servo motors with reduction gears. WABIAN-2LL is designed with large movable angle ranges like those of a human. Its height and weight are 1200 mm and 40 kg, respectively. It is able to walk with its knees stret...

Vision-Based Walking Parameter Estimation for Biped Locomotion Imitation

This paper proposes a new vision-based system that can extract walking parameters from human demonstration. The system uses only a non-calibrated USB webcam connected to a standard PC, and the human is only required to put three color patches on one of his legs and walk roughly in a perpendicular plane with respect to camera orientation. The walking parameters are then extracted in real time, u...

Biorobotic Locomotion: Biped Humanoid Walking using Optimal Control

Feasibility Study on Walking Training Biped Locomotion Surrogate Robot

Over the past few years in Japan, the number of senior citizens has increased remarkably, and around 1,650,000 of them have gait disorders. Gait disorder means to become difficult of gait by many kinds of cause. For examples, cerebrovascular disorders and joint trouble are the main causes of gait disorders, which are common ailments among those aged 65 to 74. They may be unrelated to the workin...

Transferring Human Biped Walking Function to a Machine -Towards the Realization of a Biped Bike-

In our study, we accomplished human walking motion in 2D, using a biped model with simple bar-like legs, and reciprocal leg stretch-contraction motion. Although extremely simple, this model possesses common characteristics to that of human biped walking, such as normal step length, duty factor, and reaction force patterns. We found that, by using additional stretchcontraction mechanisms to the ...