Motion planning is one of the key capabilities for autonomous humanoid robots. Previous researches have focused on weight balancing, collision detection, and gait generation. Most planners either assume that the environment can be simplified to a 2D workspace or assume that the path is given. In this paper, we propose a motion planning system capable of generating both global and local motions ...

BACKGROUND Recent research has argued that removal of relevant sensory information during the planning and control of simple, self-paced walking can result in increased demand on central processing resources in Parkinson's disease (PD). However, little is known about more complex gait tasks that require planning of gait adaptations to cross over an obstacle in PD. METHODS In order to understa...

The path generation for legged locomotion systems is di cult in that the legged motion must be considered together with the body movement. Owing to the large searching space resulted from the combination of leg movement and terrain condition, it is quite time consuming to produce an optimal result of body trajectory planning. In this paper, an e ective method of body trajectory planning is intr...

The availability of detailed knee kinematic data during various activities can facilitate clinical studies of this joint. To describe in detail normal knee joint rotations in all three anatomical planes, 25 healthy subjects (aged 22-49 years) performed eleven motor tasks, including walking, step ascent and descent, each with and without sidestep or crossover turns, chair rise, mild and deep squ...

objectives: this study aimed to compare elderly fallers and non fallers by balance test under dual tasks conditions. methods & materials: this study was a analyse-comparative study. subjects were chosen from three parks of tehran. subjects were 20 older adults with no history of falls (aged 72.60±5years) and 21 older adults with a history of 2 or more falls in the last one year (aged 74.50±6 ye...

Controlling a biped robot with several degrees of freedom is a challenging task that takes the attention of several researchers in the fields of biology, physics, electronics, computer science and mechanics. For a humanoid robot to perform in complex environments, fast, stable and adaptive behaviors are required. This paper proposes a solution for automatic generation of a walking gait using ge...

We present an approach for achieving a natural, efficient gait on bipedal robots using straightened legs and toe-off. Our algorithm avoids complex height planning by allowing a whole-body controller to determine the straightest possible leg configuration at run-time. The controller solutions are biased towards a straight leg configuration by projecting leg joint angle objectives into the null-s...

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 this paper, we present a control system based on embedded system according to the features of humanoid robot. First, the image captured by the vision system is recognized through the improved look-up table method. And then with a smooth gait planning of turning motion for humanoid robot presented, the next several motions for the robot can be proposed by the local motion planner based on the...

objectives: this paper describes further improvement and preliminarily evaluation of a novel viscoelastic ankle-foot prosthesis prototype. the objective was to control the ankle hysteresis at slow and normal walking speeds. methods: inspired by the ankle biomechanics, in which the hysteresis differs based on the gait speeds, a manually damping control mechanism imbedded in the prosthesis for ad...