Postural instability and gait disorders (PIGD) in Parkinson's disease (PD) seem to be associated with executive dysfunction. We investigated which specific executive functions are associated with functional mobility in mildly affected PD patients. Functional mobility (Timed Up&Go Test, TUG), PIGD score, (spatial) working memory, set shifting, response inhibition and response generation were ass...

This paper presents the gait pattern generation work performed for the sixlegged robot EA308 developed in our laboratory. The aim is to achieve a dynamically developing gait pattern generation structure using reinforcement learning. For the six legged robot a simplified simulative model is constructed. The algorithm constructs a radial basis function neural network (RBFNN) to command proper leg...

This paper investigates the problem of running gait optimization for humanoid robot. In order to reduce energy consumption and guarantee the dynamic balance including both horizontal and vertical stability, a novel running gait generation based on opposition-based learning particle swarm optimization (PSO) is proposed which aims at high energy efficiency with better stability. In the proposed s...

Our understanding of the gait mechanics of persons with partial foot amputation and the influence of prosthetic intervention has been limited by the reporting of isolated gait parameters in specific amputation levels and limited interpretation and discussion of results. This observational study aimed to more completely describe the gait patterns of persons with partial foot amputation wearing t...

Abstract: This paper proposes an optimal gait generation framework based on a property of Hamiltonian systems. A key technique is a unified method of learning control and parameter tuning. The proposed method allows one to simultaneously obtain an optimal feedforward input and an optimal tuning parameter for a plant system, which (at least locally) minimize a cost function. It is a repetitive c...

This paper presents a modular approach to the development of an interactive software environment for gait generation and control design of Sony legged robots. A number of modules have been developed for monitoring robot states, gait generation, control design and image processing. A dynamic model of the leg and wheel-like motion are proposed to combine both wheeled and legged properties to prod...