Parametric excitation walking is one of the bipedal gait generation methods on level ground. This method was first applied to a biped robot with telescopic legs and later to a kneed biped robot. An experimental robot with telescopic legs was also developed and it was verified that the robot could walk more than eight steps by the parametric excitation walking. Recently, we have developed an exp...

In this paper we address the problem of energy optimal gait generation for biped robots Using a sim pli ed robot dynamics that ignores the e ects of cen tripetal forces we obtain unconstrained optimal tra jectories generated by piecewise constant inputs We study a complete gait cycle comprising single support double support and the transition phases The energy optimal gaits for di erent step le...

BACKGROUND Treadmill training (with or without robotic assistance) has been reported to improve balance skills in patients with Parkinson's disease (PD). However, its effectiveness on postural instability has been evaluated mainly in patients with mild to moderate PD (Hoehn & Yahr stage ≤3). Patients with more severe disease may benefit from robot-assisted gait training performed by the Gait-Tr...

Locomotion of a Humanoid robot with lesser number of actuators is a choice of interest, as it leads to energy efficient design. This paper put emphasis on design of a humanoid robot with minimal actuation, minimal control and minimum development cost. It describes, design considerations and methods used for balancing and walking gait generation of a Humanoid Robot with 8 Degrees of Freedom. The...

One of the fundamental questions in service robotics is how we can get those machines to work efficiently in the same environment with and under the command of the average user. The answer – not an easy one – is in the development of human-robot interfaces (HRI), which should be able to transmit the will of the user to the robot in a simple but effective way preferably using means that are natu...

In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen he...

Since it is difficult to accurately track reference trajectories under the condition of stride constraints for an unmanned hexapod robot moving with rhythmic gait, omnidirectional tracking strategy based on model predictive control and real-time replanning proposed in this paper. Firstly, according characteristic that dominates motion multi-legged robot, a body-level established. Secondly, quan...

With free walk velocity; the individual will naturally enlist the speed that will provide maximum energy efficiency. Inspired by this idea, we exploit a passivity based control strategy to study, the preferred walking gait of a compass-like biped robot. In fact, for any ground slope, we use a dynamic optimization of the mechanical cost which is proportional to the mechanical work in the system ...

We have developed an autonomous, walking humanoid robot ’elvina’ and performed experiments in evolutionary programming with it, in order to optimize a by hand developed locomotion controller. A steady state evolutionary strategy is running on the robot’s onboard computer. Individuals are evaluated and fitness scores are automatically determined using the robots onboard vision system and sensors...