While biology-inspired approaches for computing walking gaits are often based on joint oscillators, whenever precise control of feet placement is needed a more specific approach based on explicit footstep control is usually employed. This paper presents a simple hybrid approach based on a gait generator procedure that generates a patterned walking gait based on trajectories to be followed by th...

Compensating a limb loss with prosthesis is a challenging task due to complexity of the human body which cannot be fully matched by the available technical means. Designer of lower limb prostheses wants to know what specification of the device could provide the best approximation to the normal locomotion. Deep understanding of the latter is essential, and gait analysis may be a valuable tool fo...

In hemiplegic gait the paretic lower limb provides less muscle power and shows a briefer stance compared with the unaffected limb. Yet, a longer stance and a higher power can be obtained from the paretic lower limb if gait speed is increased. This supports the existence of a 'learned non-use' phenomenon, similar to that underlying some asymmetric impairments of the motion of the eyes and of the...

In this paper we generate gaits for two types of underactuated mechanical systems: principally kinematic and purely mechanical systems. Our goal is to specify inputs in the form of gaits, that is, a sequence of controlled shape changes of a multi-bodied mechanical system that when executed would produce a desired change in the unactuated position or orientation variables of the entire mechanica...

The ability to move in complex environments is one of the most important features of humans and animals. In this work, we exploit a bio-inspired method to generate different gaits in a bipedal locomotion system. We use the 4-cell CPG model developed by Pinto [21]. This model has been established on symmetric coupling between the cells which are responsible for generating oscillatory signals. Th...

In this paper, we address a particular flavor of the motion planning problem, that is, the gait generation problem for underactuated variable inertia mechanical systems. Additionally, we analyze a rather general type of mechanical systems which we refer to as mixed systems. What is unique about this type of mechanical system is that both non-holonomic velocity constraints as well as instantaneo...

Able-bodied individuals spontaneously adopt crouch gait when walking with induced anterior trunk flexion, but the effect of this adaptation on lower-limb kinetics is unknown. Sustained forward trunk displacement during walking can greatly alter body center-of-mass location and necessitate a motor control response to maintain upright balance. Understanding this response may provide insight into ...

Legged robot gait generation is a challenging task that involves the control of a large number of degrees of freedom (DOF’s) within a mechanical structure that varies during locomotion. A large number of motion parameters have to be considered in order to obtain a stable, natural and efficient locomotion. Legged robot locomotion applies nonlinear dynamical equations of high order with a multidi...

The purpose of this paper is to give a short overview of the ongoing work of the combined four-legged and wheeled walking machine ALDURO with special consideration to gait generation in unstructured terrain.

We address the problem of gait generation for a six-legged robot walking on irregular terrain and subject to changes in speed and direction commanded by a human driver or by an independent, higher-level decision process.