Legged locomotion on flowing ground (e.g., granular media) is unlike locomotion on hard ground because feet experience both solid- and fluid-like forces during surface penetration. Recent bioinspired legged robots display speed relative to body size on hard ground comparable with high-performing organisms like cockroaches but suffer significant performance loss on flowing materials like sand. I...

0.1016/j.dcan.201 hongqing Universi thor. : [email protected] du (N. Rojas), u.sg (M.R. Elara), du.sg (R. Sosa), jp (M. Iwase). Abstract Legged robots based on one degree-of-freedom reconfigurable planar leg mechanisms, that are capable of generating multiple useful gaits, are highly desired due to the possibility of handling environments and tasks of high complexity while maintaining simple co...

[Purpose] The purpose of this study was to investigate the kinematic changes of the cervical spine during cross-legged sitting. [Subjects and Methods] In total, 19 healthy participants were recruited from among healthy students of Silla University. Each participant sat cross-legged with the right leg over the left and gazed at a target presented at 45° below the horizontal line of sight or at a...

Assessment of the inter-limb asymmetry leg stiffness is carried out using one-legged jumping tasks. However, level may vary depending on performance one or both lower limbs. Therefore, purpose this study was to identify differences in between dominant and non-dominant limb during a two-legged countermovement jump. The research conducted 35 s-league basketball players (body height: 1.90 ± 0.08 m...

Current control approaches to robotic legged locomotion rely on centralized planning and tracking or motion pattern matching. Central control is not available to robotic assistive devices that integrate with humans, and matching predefined patterns severely limits user dexterity. By contrast, biological systems show substantial legged dexterity even when their central nervous system is severed ...

AIBO four-legged soccer league is considered as one of the most popular test-beds for Artificial Intelligence (AI) and Robotics. This paper presents Impossibles AIBO 4-Legged main architecture for RoboCup 2006 which is going to be held in Bremen, Germany. This architecture includes different modules such as World Modeling (WM) module, Vision (SVS and GVS), Action (Decision Making and Motion Con...

Sensor-guided robotic locomotion in different media often takes inspiration from natural examples, e.g. from fishes, birds, and humans for underwater, aerial, or walking robots, respectively. Interestingly, several naturalistic observations show that even very different species exhibit some similarities in their locomotion patterns: a notable one perhaps being the spiraling nature of paths that...

A b s t r a c t m As many biomechanists indicate~ tendon plays important role for running or jumping motion. It stores the kinetic energy as a potential energy during stance and also absorbs the impulse at touch down. Inspired by such biomechanical studies~ we propose a new simple mechanical model for hindlimb of a dog to realize a robot that imitates dog running~ and the hardware design of one...

Crawling using muscular waves is observed in many species, including planaria, leeches, nemertea, aplysia, snails, chitons, earthworms and maggots. Contraction or extension waves propagate along the antero-posterior axis of the body as the crawler pushes the ground substratum backward. However, the observation that locomotory waves can be directed forward or backward has attracted much attentio...

This paper discusses the development and application of object-oriented modeling and implementation techniques to achieve a representation of the mechanical model amenable to the various requirements by legged robot applications. This leads to a uniform, modular, and flexible code generation while reaping the performance of efficient domain-specific articulated body algorithms. Trajectory optim...