We present a class of gait generation and control algorithms based on the Switching MaxPlus modeling framework that allow for the synchronization of multiple legs of walking robots. Transitions between stance and swing phases of each leg are modeled as discrete events in a system described by max-plus-linear state equations. Different gaits can be systematically generated and interleaved during...

This paper presents a novel approach to the emulation of locomotor central pattern generators (CPGs) of legged animals. Based on Scheduling by Multiple Edge Reversal (SMER), a simple but powerful distributed algorithm, it is shown how oscillatory building blocks (OBBs) can be created and how OBB-based networks can be implemented as asymmetric Hopfield-like neural networks for the generation of ...

objectives: investigating the effect of endurance training program onthe gait pattern of non-active elderly people. methods & materials: this study has been done by a semi-experience method with 23 old men and women by the average and standard deviation of 70/50±6/9 years old (n=14 people of exercise group, n=9 people of control group). the exercise group took part in this program for eight wee...

gait contains important information about the status of the human body and physiological signs. in many medical applications, it isimportant to monitor and accurately analyze the gait of the patient. since walking shows the reproducibility signs in several phases,separating these phases can be used for the gait analysis. in this study, a method based on image processing for extracting phases of...

The generation of a robust and fast gait for the humanoid robot Nao is still one of the major research topics of the Standard Platform League. In this paper, we present a closedloop gait, as it was used at the RoboCup competition 2010. We will explain how the inverted pendulum model is used to create trajectories for the center of mass of an omnidirectional gait and how it allows to eliminate t...

objectives: the purpose of this study was to evaluate the concurrent validity of the farsi version of functional gait assessment (fga), timed up & go (tug), and gait speed tests in persian communitydwelling older adults. methods: subjects were 100 males in falling or no falling history group (50 subjects in each group). subjects were community-dwelling adults aged 60-90 years who were living in...