This paper mainly studies the transition gait planning by updating parameters of snack robot motion control function through ROS nodes, including a straight running into turning gait. In practical scenario, when changing parameters, joint angle snake will increase or decrease sharply, and angular velocity acceleration driving joints also change, which results in oscillation sideslip body. scene...

The planning of whole-body motion and step time for bipedal locomotion is constructed as a model predictive control (MPC) problem, in which sequence optimization problems needs to be solved online. While directly solving these extremely time-consuming, we propose gait synthesizer offer immediate solutions. Based on the full-dimensional model, library gaits with different speeds periods first 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...