[Purpose] The purpose of the present study was to investigate the effects of robot-assisted gait training combined with functional electrical stimulation on locomotor recovery in patients with chronic stroke. [Subjects] The 20 subjects were randomly assigned into either an experimental group (n = 10) that received a combination of robot-assisted gait training and functional electrical stimulati...

Title of Document: DESIGN AND ANALYSIS OF EXAGGERATED RECTILINEAR GAIT-BASED SNAKE-INSPIRED ROBOTS James Kendrick Hopkins Doctor of Philosophy, 2014 Dissertation directed by: Professor S. K. Gupta Department of Mechanical Engineering Snake-inspired locomotion is much more maneuverable compared to conventional locomotion concepts and it enables a robot to navigate through rough terrain. A rectil...

in this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. stability conditions are derived by studying unactuated dynamics and using the poincarã© map associated with periodic walking gaits. a stable gait is designed by an optimization process satisfying physical constraints and stability conditions. also, considering...

Humanoid robot is a type of robot that the overall appearance is based on that of the human body. Humanoid robots include a rich diversity of projects where perception, processing and action are embodied in a recognizably anthropomorphic form in order to emulate some subset of the physical, cognitive and social dimensions of the human body and experience. The research on humanoid robots spans f...

Bipedal walking is a challenging task for humanoid robots. In this study, we develop lightweight reinforcement learning method real-time gait planning of the biped robot. We regard bipedal as process in which robot constantly interacts with environment, judges quality control action through state, and then adjusts strategy. A mean-asynchronous advantage actor-critic (M-A3C) algorithm proposed t...

In recent years, snake-inspired locomotion has garnered increasing interest in the bio-inspired robotics community. This positive trend is largely due to the unique and highly effective gaits utilized by snakes to traverse various terrains and obstacles. These gaits make use of a snake’s hyper-redundant body structure to adapt to the terrain and maneuver through tight spaces. Snakeinspired robo...

General gait design for a walking robot has an assumption that the weight of a leg is negligible compared to that of body. Under the assumption, only the gravity center of the body is taken into consideration in the gait design since the total gravity center of whole robot coincides always with the gravity center of the body only. Roughly speaking, however, motion of a weighty leg has serious i...

Several behaviors of living things seem to be consequences of combinations of simple reflexes. By this hypothesis, emergence of walk of a quadruped robot is demonstrated by a combination of two reflexes in this paper. One reflex is to move its body according to movement of a target object which the robot gaze at, a vision-cued swaying reflex. The other is a gait reflex, a gait of a free leg so ...

In this study, kinematics and dynamic simulation of a six-legged robot is performed based on virtual prototyping technology. Modeling and simulation of sixlegged robot with three joint legs are carried out with CATIA solid modeler, SimDesigner and ADAMS multibody dynamic solver. Tripod periodic gait pattern was generated varying the cycle time as well as stroke of the swing of the legs. Variati...

This paper discusses the use of fitness biasing to alter the control of a seven microprocessor robot as it shifts from one environment to another. The robot was initially using a gait evolved to work on a smooth surface (tile). When tested on a rough surface (carpet) the learned gait was found to be inappropriate because the legs were causing drag as they repositioned. An efficient move to repo...