With the increasing number of people who have problems with their walking, a new type of gait rehabilitation training robot has been put forward and designed. In order to meet the requirements of the gait rehabilitation training, the whole mechanical structure and control system have been designed, and the model machine for gait rehabilitation training robot has been made. Using the human gait ...

AbstmctmMimicking the case of rigid robot arms, the set-point regulation problem for manipulators with flexible links moving under gravity can be solved by either model-based compensation or l i D control. The former cannot be applied if an unknown payload is present or when model parameters are poorly estimated, while the latter requires fine and lengthy tuning of gains in order to achieve goo...

in this paper an energy dissipation rate control (edrc) method is introduced, which could provide stable walking or running gaits for legged robots. this method is realized by developing a semi-analytical pattern generation approach for a robot during each single support phase (ssp). as yet, several control methods based on passive dynamic walking have been proposed by researchers to provide an...

The Problem: This research derives from the evolution of the M4, a dog-like robot, to the M2-Macaco project, a primate-like mobile robot in joint development with the MIT Leg Lab. It consists of the development of a portable and flexible robotic brain/head which both fits a quadruped and a bipede automaton. Merging social competencies with navigation capabilities requires an architecture that i...

Robotic systems can benefit from the introduction of properly chosen joint elasticity. Besides their robustness against rigid impact, the energy saving capabilities may increase the system dynamics. In this paper, a method applicable for robots with serial elastic joints is presented, which embodies a desired oscillatory behavior into the hardware and thereby leads to improved performance. This...

Construction of a biped walking robot, its hardware, basic software and control design is presented. Primary goal achieved is a static walking with non-instantaneous double support phase and fixed trajectory in joint coordinates. The robot with two legs and no upper body is capable to walk with fixed, manually created, static trajectory using simple SISO proportional controller, yet it is exten...