the goal of this study is to realize a biped humanoid robot as a human motion simulator; where a biped humanoid robot having an ability to mimic various human motions is used for testing welfare apparatuses. In this paper, a humanoid robot, WABIAN-2R, capable of not only human-like walking but also the emulation of disabled persons’ walking is proposed. It has two 6-DOF legs, two 1-passive-DOF ...

In our study, we accomplished human walking motion in 2D, using a biped model with simple bar-like legs, and reciprocal leg stretch-contraction motion. Although extremely simple, this model possesses common characteristics to that of human biped walking, such as normal step length, duty factor, and reaction force patterns. We found that, by using additional stretchcontraction mechanisms to the ...

A human walker vaults up and over each stance limb like an inverted pendulum. This similarity suggests that the vertical motion of a walker's center of mass reduces metabolic cost by providing a mechanism for pendulum-like mechanical energy exchange. Alternatively, some researchers have hypothesized that minimizing vertical movements of the center of mass during walking minimizes the metabolic ...

The problem of biped locomotion at steady speeds is discussed through the Lagrangian formulation developed for velocity-dependent, body driving forces. Human walking on a level surface is analyzed in terms of the data on the resultant ground-reaction force and the external work. It is shown that the trajectory of the human center of mass is due to a superposition of its rectilinear motion with ...

Two-legged locomotion is a much reseached topic in the robotics community since many decades. Nevertheless human walking and running is still unequaled. This paper introduces a biologically motivated approach of controlling bipeds that is based on recent results from neurological research on human walking. It features a hierarchical network of skills, motor patterns and reflexes that works loca...