A healthy gait pattern depends on an array of biomechanical features, orchestrated by the central nervous system for economy and stability. Injuries and other pathologies can alter these features and result in substantial gait deficits, often with detrimental consequences for energy expenditure and balance. An understanding of the role of biomechanics in the generation of healthy gait, therefor...

quadruped robots have unique capabilities for motion over uneven natural environments. this article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. first, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-dof quadruped robot. thereafter, an inverse-dynamics...

Experiments were conducted on normal level gait to determine the synergistic patterns present in the forces causing joint moments and those associated with the generation, absorption and transfer of mechanical energy. The following generalizations can be made about the patterns: (i) During swing phase three forces (gravitational, muscle and knee joint acceleration) are responsible for shank rot...

Controlling a biped robot with several degrees of freedom is a challenging task that takes the attention of several researchers in the fields of biology, physics, electronics, computer science and mechanics. For a humanoid robot to perform in complex environments, fast, stable and adaptive behaviors are required. This paper proposes a solution for automatic generation of a walking gait using ge...

We describe a new method for recognizing humans by their gait using back propagation neural network(BPNN), BPNN algorithm is used to recognize humans by their gait patterns. Automatic gait recognition using Fourier descriptors and independent component analysis (ICA) for the purpose of human identification at a distance. Firstly, a simple background generation algorithm is introduced to subtrac...

BACKGROUND Momentum must be controlled in stable locomotor activities, including sit-to-stand and gait. The relationship of momentum control and balance maintenance in elders or in a balance-impaired population has not been studied. Although decreased locomotor speed has long been reported among elders, the literature is lacunar concerning the mechanical mechanisms underlying this slowing. The ...

We present a search-based method for the generation of a terrainadaptive optimal gait of a six-legged walking machine. In this, several heuristic rules have been proposed to reduce the search effort. We identify the useful support states of the machine and form a table to indicate for each of these states the list of other states to which a transition can be made. This helps in converging to an...

This paper describes a walking gait for a humanoid robot with a distributed control system. The motion for the robot is calculated in real time on a central controller, and sent over CAN bus to the distributed control system. The distributed control system loosely follows the motion patterns from the central controller, while also acting to maintain stability and balance. There is no global fee...

In the study, the influence of different boot prototype stiffness on gait kinematics and kinetics was investigated. The boot stiffness was determined by force-deformation measurement while pressing the foot model inserted into the boot by a custom-made robot. Gait analysis was carried out in nine neurologically intact subjects during walking while wearing two different boots with and without ca...