This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology experimentally on two robotic platforms: AMBER2 and ATRIAS. Inspired by the key feature encoded in human walking— multi-contact behavior—this approach begins with the analysis of human locomotion and uses it to motivate the construction of a hybrid system model representing ...

A walking gait is designed for a planar biped with two identical three-link legs, a trunk and two one-link arms. This ninelink biped is controlled via eight torques to obtain a cyclic gait. The scope of this paper is to investigate the effects of arms swing on the reduction of energy consumption during walking of a fully actuated planar biped robot. Kinematics and dynamics of a biped, HYDROID, ...

In this paper, a robust controller design approach is proposed for Lower Extremity Rehabilitation Robot (LERR) with automatic gait adaption. Based on the developed LERR dynamic model, the robot system is first decoupled into some independent second-order integral systems using inverbility decoupling method. Then a robust optimal PID controller is proposed for each sub-system to cope with the un...

In nature, humans and animals move in ways that allow them to achieve energetically economical motion over a large range of velocities. In particular, researchers have shown that legged animals use multiple gaits in order to minimize their cost of transport (COT; the amount of energy used per distance traveled [1], [2]). For example, humans transition from walking to running [3], and horses tra...

Human locomotion is fundamentally periodic, so when sonifying gait, it is desirable to exploit this periodicity to produce rhythmic sonification synchronized to the motion. To achieve this rhythmic sonification, some mechanism is required to synchronize an oscillator to the period of the motion. This paper presents a method to synchronize to multidimensional signals like those produced by a mot...

as a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. an experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. the kinematic and gait analysis formulations are demonstrated by an e...

In this paper, optimal cyclic reference trajectories are designed for three gaits of a quadruped robot, the curvet, the amble, and the trot, taking into account the actuators characteristics. The gaits are composed of stance phases and instantaneous double supports. The principle of virtual leg is used to obtain simpler dynamic model describing the motion of the quadruped. The impact phases are...

Since humans can walk with an infinite variety of postures and limb movements, there is no unique solution to the modeling problem to predict human gait motions. Accordingly, we test herein the hypothesis that the redundancy of human walking mechanisms makes solving for human joint profiles and force time histories an indeterminate problem best solved by inverse dynamics and optimization method...

This paper presents experiments with a morphology-independent, life-long strategy for online learning of locomotion gaits. The experimental platform is a quadruped robot assembled from the LocoKit modular robotic construction kit. The learning strategy applies a stochastic optimization algorithm to optimize eight open parameters of a central pattern generator based gait implementation. We obser...