Simple intuitive control strategies can be used to compel bipedal robots to walk over sloped terrain. We describe an algorithm for walking dynamically and steadily over sloped terrain with unknown slope gradients and transition locations. The algorithm is developed based on geometric considerations. The overall algorithm is very simple and does not require the biped to have an extensive sensory...

This research realizes and analyze Multi-legged Passive Dynamic Walking(PDW). Although various PDW studies have been conducted based on its interesting features, most of them dealt with bipedal robots. There are many kinds of multi-legged creatures, not only quadrupedal animals but also creatures with more than six legs. In this paper, we focus on a “Multi-legged PDW,” which is a PDW with more ...

Applying an evolutionary algorithm, we first develop the morphology of a simulated passive dynamic bipedal walking device, able to walk down a shallow slope. Using the resulting morphology and adding minimal motor and sensory equipment, a neural controller is evolved, enabling the walking device to walk on a flat surface with minimal energy consumption. The applied evolutionary algorithm fixes ...

A class of biped locomotion called Passive Dynamic Walking (PDW) has been recognized to be efficient in energy consumption and a key to understand human walking. Although PDW is sensitive to the initial condition and disturbances, studies of Quasi-PDW which incorporates supplemental actuators have been reported to overcome this sensitivity. In this article, we propose a reinforcement learning m...

OBJECTIVE To study adjustment strategies in unilateral amputees in uphill and downhill walking. DESIGN Observational cohort study. SUBJECTS Seven transfemoral, 12 transtibial unilateral amputees and 10 able-bodied subjects. METHODS In a motion analysis laboratory the subjects walked over a level surface and an uphill and downhill slope. Gait velocity and lower limb joint angles were measu...

The purpose of this study was to compare the ventilatory threshold (VT) between treadmill walking against a horizontal impeding force (horizontal load walking) and a cycle ergometer exercise. Seven adult men volunteered to participate in this study. They performed horizontal load walking (velocity: 1.11 m/s) and a cycle ergometer exercise (pedaling frequency: 60 rpm), with loads imposed using a...

Applying an evolutionary algorithm, we first develop the morphology of a simulated passive dynamic bipedal walking device, able to walk down a shallow slope. Using the resulting morphology and adding minimal motor and sensory equipment, a neural controller is evolved, enabling the walking device to walk on a flat surface with minimal energy consumption. The applied evolutionary algorithm fixes ...

BACKGROUND Variations in 'slope' (how steep or flat the ground is) may be good for health. As walking up hills is a physiologically vigorous physical activity and can contribute to weight control, greater neighbourhood slopes may provide a protective barrier to weight gain, and help prevent Type 2 diabetes onset. We explored whether living in 'hilly' neighbourhoods was associated with diabetes ...