Walking Gait of a Biped with a Wearable Walking Assist Device

Walking Gait of a Biped with a Wearable Walking Assist Device

Gait Planning and Motion Simulation of a Biped Walking Robot

A three-step planning method is proposed, aiming at the redundancy of DOFs and the complexity of a biped robot’s gait planning. The method presents a quick procedure on the planning of robot’s walking gait, and it is used in the walking gait planning of a biped robot, the HIT-Robocean. A robot virtual prototype model firstly is set up with the aid of the softwares, namely, Solidworks, Matlab, a...

A dynamically-Balanced Walking Biped

Describes the mechanical, electronic and software design of a 10-DOF bipedal robot which has been constructed to study control, parameterisation and automatic expansion of the stability envelope of a complex real-time behaviour, namely, dynamically-balanced two-legged walking. The machine is physically complete and demonstrates reasonable reliability in movement control including dynamically-ba...

3D Quasi-passive Walking of Biped Robot with Flat Feet - Gait Comparison between Passive Walking and Quasi-passive Walking -

Currently, many bipedal robots have been proposed to realize the high energy efficiency walking. The control input isn’t required for the passive dynamic walking. Generally, a foot of passive dynamic walking robot is an arc foot. In this paper, it is intended to establish a control method and control mechanism to achieve the energy efficient and the stable gait. Therefore, we developed 3D quasi...

Measurement of Walking Gait for 3d Passive Dynamic Biped Walker

Passive dynamic bipedal walking (PDW) is an attractive topic not only for robotics field but also the other scientific fields, i.e. physics and biology. In order to clarify its mechanism of walking, many researchers have developed various PDW machines. We also have developed several 3D PDW with flat feet and ankle springs. However there are no researches on the measurement of 3-D PDW gait, whic...