The design of bipedal robots is generally fulfilled through considering a sequential approach, where synergistic relationship between its structure and control features not promoted. Hence, novel integrated structure-control approach proposed to simultaneously obtain the optimal structural description, torque magnitudes, on/off time intervals for signal input semi-passive robot. takes advantage...

Passive walking is an attractive walking style which emerges autonomously on shallow slope without external input. It is known that the walking motion varies to chaotic in the vicinity of the limit of the stable walking. This phenomenon had been analyzed well, but had not been utilized directly for control. Usually only period-1 w alking gait has been dealt with as an active usage of passive wa...

The planar passive compass-gait biped robot on sloped surfaces is the simplest model of legged walkers. It is a two-degrees-of-freedom impulsive mechanical system known to exhibit, in response to an increase in the slope angle of the walking surface, a sequence of period-doubling bifurcations leading to chaos before falling down at some critical slope without any explanation. The fall is found ...

the focus of studies in the field of passive walking has often been on straight walking, while less attention has been paid to the field of turning motions. in this paper, the passive motions of a finite width rimless wheel as the simplest 3d model of passive biped walkers was investigated with a focus on turning motions. for this purpose, the hybrid model of the system consisting of continuous...

Passive Dynamic Walking (PDW) has been receiving increasing attention as a simple walking method with no or less control, therefore no or less energy consumption. To the best of our knowledge, there are no PDW models with a torso although there have been already many studies on PDW. This paper presents the first step towards applying the PDW principle to humanoid robots by adding a torso to a c...

Many studies have been made to develop walking anthropomorphic robots able to move in environments well-adapted to human beings and able to cooperate with them. Among the more advanced projects of humanoid robots, one can mention : the Honda robots P2, P3 (Hirai, 1997) (Hirai et al., 1998) and Asimo (Sakagami et al., 2002), the HRP series developed by AIST (Kaneko et al., 1998) (Kajita et al., ...

A lot of research on humanoid robots or biped robots has been conducted. This research focused on enabling robots to walk very smoothly, similar to the way humans walk, which is highly energy efficient. Motion control using a central pattern generator (CPG) has attracted much attention as an effective control mechanism for biped robots to achieve human-like walking (e.g., Kato & Itoh (2005); Ko...

UNLABELLED Ankle-foot orthoses (AFOs) can provide support and improve walking ability in individuals with plantarflexor weakness. Passive-dynamic AFO stiffness can be optimized for over-ground walking, however little research exists for uphill walking, when plantarflexor contributions are key. PURPOSE Compare uphill walking biomechanics (1) between dynamic AFO users and able-bodied control su...