[Purpose] The purpose of this study was to compare the lumbar flexion angle and electromyography (EMG) measurements of trunk muscle activity in individuals with and without limited hip flexion range of motion (ROM) during visual display terminal (VDT) work with cross-legged sitting. [Subjects] The 15 participants included a control group with sufficient hip flexion ROM (n = 7) and an experiment...

The problems of determining dynamic and kinematic parameters of wheel-legged mobile robot were considered in the paper. The numerical computer model of robot was worked out and simulation researches of suspension were completed. The motion of wheel on road with obstacles and walking motion of wheel were analyzed for determining kinematic and dynamic parameters.

In order to improve legged locomotion of robots, both actuation and control challenges need to be tackled. In the last decade, compliant actuation has been identified as an important key towards natural motion performance [1]. Understanding the mechanisms and principles underlying human motion guides various research projects today to develop robotic legs that are close to the functionalities o...

This paper develops a framework for the realistic autonomous animation and motion control of four-legged animals. Our system uses a combination of kinematics, dynamics and control theory. The input to our system, the velocity and heading of the animal, originates either from a simulated visual sensory system or a user. Based on this input we model walking, trotting, and simple behaviors such as...

Legged robots have been studied and developed for a long time. The primary advantage of legged motion is that they can traverse terrains inaccessible to wheeled robots. Biped robots are probably the most complicated of legged robots. Despite their complexity there has been a substantial amount of work done in the field including different techniques that have been developed to model, design and...

Legged locomotion is attractive because it can enable a robot to traverse far more varied terrain than a wheeled rover is capable of. In the context of planetary exploration, this is especially attractive as the sites of greatest scientific interest tend to be characterized by difficult terrain. For example, it would be extremely difficult for a wheeled rover to make its way into a lunar crater...

A state-of-the-art simulation technique that solves the equations of motion together with the set-valued contact and impulse laws by the time-stepping scheme of Moreau is introduced to the legged robotics community. An analysis is given that shows which of the many variations of the method fits best to legged robots. Two different methods to solve the discretized normal cone inclusions are comp...

The moment a legged robot touches the ground, tip of its toe can experience significant impact force. It is preferable to keep landing force small because it causes imbalance and damage frame, motors, gears, other components legs. In this paper, we propose control method mitigate by preliminary motion based on proximity information tiptoe before landing. A sensor mounted detect ground landing, ...