In this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. Stability conditions are derived by studying unactuated dynamics and using the Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...

To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the adaptive attitude control using sensory information (feedback control) is indispensable. In this paper, we initially propose a new trajectory planning for the stable trot gait named 3D sway compensation trajectory, and show th...

Background: During locomotion, a gait is pattern of limb movement. The numerous ways in which human can move, either naturally or as result specific training, are referred to gaits. A person's their walking pattern. Walking requires muscle coordination and balance push the body forward rhythm known stride. An irregular could be caused by number factors.Degenerative disease (such arthritis), str...

One of the important applications of the computer modelling of human body is the area of joint replacement where a validated model can be used for surgery planning. It is known that the evolution of total knee and total hip replacement has been influenced to a great extent by the knowledge obtained from gait analysis studies (Andriacchi and Hurwitz, 1997). Many of the mechanical problems associ...