the goal of this study is to realize a biped humanoid robot as a human motion simulator; where a biped humanoid robot having an ability to mimic various human motions is used for testing welfare apparatuses. In this paper, a humanoid robot, WABIAN-2R, capable of not only human-like walking but also the emulation of disabled persons’ walking is proposed. It has two 6-DOF legs, two 1-passive-DOF ...

Elasticity in conventionally built walking robots is an undesired sideeffect that is suppressed as much as possible because it makes control very hard and thus complex control algorithms must be used. The human motion apparatus, in contrast, shows a very high degree of flexibility with sufficient stability. In this research we investigate how compliance and damping can deliberately be used in h...

The impact of the world-wide ageing population has commenced with respect to society in developed countries. Several researchers focused on exploring new methods to improve the quality of life of elderly individuals by allowing them to remain independent and healthy to the maximum possible extent. For example, new walking aids are designed to allow elderly individuals to remain mobile in a safe...

The purpose of this study is to analyze a motion of the quadruped locomotion robot TITAN-VIII in the walking and design the control system using a CAD-based model. Also, such results are compared with experiments. Until now, there are many behaviour based studies of locomotion robots. Because the robot has the non-linear properties and it is difficult to build up a three dimensional model of th...

This paper presents a proposed adaptive impedance control that derived based on Center of Mass (CoM) of the hexapod robot for walking on the bottom of water or seabed. The study has been carried out by modeling the buoyancy force following the restoration force to achieve the drowning level according to the Archimedes’ principle. The restoration force need to be positive in order to ensure robo...

This paper presents the first steps toward automatically generating robotic walking from human walking data through the use of human-inspired control. By considering experimental human walking data, we discover that certain outputs of the human, computed from the kinematics, display the same “universal” behavior; moreover, these outputs can be described by a remarkably simple class of functions...

From 1970’s, legged robots have attracted much attention of many researchers. In spite of this, it has been regarded that dynamically stable walking is very difficult to be tackled for any types of legged robots. For a trot gait for quadruped walking robots, we have proposed “the sway compensation trajectory”. This method utilizes a lateral, longitudinal, and vertical motion of a robot body to ...

The aim of this paper is to emphasize the interaction which should exist between the domains involved in the study of bipedal locomotion, and the limits of this interaction. These domains can be divided into two main fields depending whether they are concerned with living beings or with artificial structures. The project BIP of INRIA has developed an anthropomorphic mechanical biped machine aim...

A lot of research has been done for bipedal walking and many positive results have been produced, such as the ASIMO robot from Honda. However, although bipedal walking is a good solution for moving over uneven surfaces; bipedal walking is inefficient over an even surface because the robot’s walking speed and stability are limited. Consequently, employing a wheeled locomotion on even surfaces ca...

This work presents the intelligent walking aid system Care-O-bot. Care-O-bot is the prototype of a multi functional home care system, to be used by elderly people in order to live independently in their homes. In order to enable easy manipulation of the robot platform, the way to use it as a walking aid has been adapted to conventional walking aid systems. The robot drives in reaction to input ...