This paper studies real-time gait planning for a humanoid robot. By simultaneously planning the trajectories of the COG (Center of Gravity) and the ZMP (Zero Moment Point), a fast and smooth change of gait can be realized. The change of gait is also realized by connecting the newly calculated trajectories to the current ones. While we propose two methods for connecting two trajectories, i.e. th...

A fault-tolerant gait planning of a quadruped robot is presented. The considered robot has static walking and suffers from a locked joint failure. Especially, the quadruped robot is equipped with the moving appendage onto the body. By controlling the moving appendage, the robot can adjust the effective position of the center of gravity. Incorporating the adjustment of the moving appendage along...

The treatment of gait abnormalities in persons with cerebral palsy is challenging. Theoretically, gait abnormalities can be diminished by decreasing the muscle forces that disrupt normal movement (e.g. via muscle–tendon lengthenings or tone-altering medications) and/or increasing the muscle and ground reaction forces that have the potential to improve movement (e.g. via strengthening exercises,...

Motion planning of walking machines normally contains two aspects: gait planning and body trajectory planning. When generating an optimal body trajectory on natural terrain, the leg movement must be taken into account. Due to the large searching space resulting from the combination of leg movement and terrain conditions, it is quite time consuming to produce an optimal result of body trajectory...

In this paper, we generalize our prior results in motion analysis to design gaits for a more general family of underactuated mechanical systems. In particular, we analyze and generate gaits for mixed mechanical systems which are systems whose motion is simultaneously governed by both a set of non-holonomic velocity constraints and a notion of a generalized momentum being instantaneously conserv...

Attention and planning can be altered by stroke, which can influence motor performance. Although the influence of these factors on recovery from stroke has been explored for the upper extremity (UE), their impact on balance and gait are unknown. This perspective article presents evidence that altered motor and visuospatial attention influence motor planning of voluntary goal-directed movements ...

This paper deals with multi-objective optimization in gait planning of a 7-dof biped robot ascending and descending some staircases. Both its power consumption as well as dynamic balance margin depends on a few common design parameters. The biped robot should have a maximum dynamic balance margin but at the expense of minimum power. Thus, a conflicting relationship exists between these two obje...

The use of a free gait becomes necessary when walking over discontinuous terrain or when performing changes in the heading of the robot. If no look-ahead planning is possible, the free gait must be generated reactively. We present a basic gait generation strategy and a heuristic enhancement of it that results in a significant efficiency improvement. In the search for a better strategy, we decid...

In recent years, it has become clear that children with autism spectrum disorders (ASDs) have difficulty with gross motor function and coordination, factors which influence gait. Knowledge of gait abnormalities may be useful for assessment and treatment planning. This paper reviews the literature assessing gait deviations in children with ASD. Five online databases were searched using keywords ...