We present the design of a robotic leg that can seamlessly switch between spring-suspended, and unsuspended configuration. Switching is realized by mechanism exploits alternative configuration two-link leg. The lightweight, does not require additional actuation, only relies on movement for engagement. validated performance prototype single-leg testbed investigated power consumption during stand...

In this paper the influence of knee joint on the motion of the robot and the effect of leg segmental proportions and angle between leg segments on the performance of the robot is explored via parametric analysis. The spring loaded inverted pendulum (SLIP) running in the sagittal plane, which is a simple model commonly used to analyze the basic qualitative properties of running, is used. The per...

Neuronal coupling between the arms and legs allowing coordinated rhythmic movement during locomotion is poorly understood. We used the modulation of cutaneous reflexes to probe this neuronal coupling between the arms and legs using a cycling paradigm. Participants performed rhythmic cycling with arms, legs, or arms and legs together. We hypothesized that any contributions from the arms would be...

Insect locomotion requires the precise coordination of the movement of all six legs. Detailed investigations have revealed that the movement of the legs is controlled by local dedicated neuronal networks, which interact to produce walking of the animal. The stick insect is well suited to experimental investigations aimed at understanding the mechanisms of insect locomotion. Beside the experimen...

Recent investigations into biological locomotion have resulted in the development of reduced order templates that emphasize the role of lateral dynamics in achieving rapid and robust fore-aft movement, such as the Full-Goldman model for dynamic climbing and the Lateral Leg Spring model for horizontal plane running. The observation of individual animals demonstrating locomotion via both of these...

Legged locomotion through natural environments is very complex and variable. For example, leg kinematics may differ strongly between species, but even within the same species it is adaptive and context-dependent. Inter-species differences in locomotion are often difficult to interpret, because both morphological and ecological differences among species may be strong and, as a consequence, confo...

Roller-Walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tip of each leg. The passive wheel can be transformed into sole mode by rotating ankle roll joint when Roller-Walker walks on rough terrain. This paper discusses energy efficiency of locomotion in wheeled mode. We define a leg trajectory to produce forward straight propulsion and discuss the relationships bet...

in this paper the simulation of pathological behavior in gait locomotion of central nervous system (cns) diseases and effects of rehabilitation techniques are investigated. these simulations noticeably deepen the knowledge of researches in neurorehabilitation realm about the neuroscientific basis of cns treatment after a neural disorder. however, only a limited number of these simulations have ...

Living creatures, like walking animals, have found fascinating solutions for the problem of locomotion control. Their movements show the impression of elegance including versatile, energy-efficient, and adaptable locomotion. During the last few decades, roboticists have tried to imitate such natural properties with artificial legged locomotion systems by using different approaches including mac...

This paper explores the role and utility of variable compliance in running behaviors. While it is well understood in the literature that leg compliance plays an important role in running locomotion, our conjecture is that mechanically adjustable leg compliance improves the efficiency and robustness of a running system. We claim that variable compliance can serve as an effective means for gait r...