A walking gait is designed for a planar biped with two identical three-link legs, a trunk and two one-link arms. This ninelink biped is controlled via eight torques to obtain a cyclic gait. The scope of this paper is to investigate the effects of arms swing on the reduction of energy consumption during walking of a fully actuated planar biped robot. Kinematics and dynamics of a biped, HYDROID, ...

Biped locomotion for humanoid robots is a challenging problem that has come into prominence in recent years. As the degrees of freedom of a humanoid robot approaches to that of humans, the need for a better, flexible and robust maneuverability becomes inevitable for real or realistic environments. This paper presents new motion types for a humanoid robot in coronal plane on the basis of Partial...

At every joint there is a redundant set of muscle activated during movement or loading of the system. Optimization techniques are needed to evaluate individual forces in every muscle. The objective in this thesis was to use static optimization techniques to calculate individual muscle forces in the human extremities. A cost function based on a performance criterion of the involved muscular forc...

This paper proposes to use deep reinforcement learning for the simulation of physics-based musculoskeletal models both healthy subjects and transfemoral prostheses' users during normal level-ground walking. The algorithm is based on proximal policy optimization approach in combination with imitation guarantee a natural walking gait while reducing computational time training. Firstly, implemente...

background: in this study we investigated the differences of functional gait and balance measures between patients with chronic stroke with different level of concern about falling. methods: fifty-four patients with chronic stroke participated in this observational, cross-sectional study. the level of concern relating to falls was assessed by using the falls efficacy scale-international. thirty...

A key challenge in robotic bipedal locomotion is the design of feedback controllers that function well in the presence of uncertainty, in both the robot and its environment. This paper addresses the design of feedback controllers and periodic gaits that function well in the presence of modest terrain variation, without over reliance on perception and a priori knowledge of the environment. Model...

The ability to stand still in one place is important in a variety of activities of daily living. For persons with motion disorders, orthopaedic treatment, which changes geometric or biomechanical properties, can improve the individual’s posture and walking ability. Decisions on such treatment require insight in how posture and walking ability are affected, however, despite expectations based on...

Forward dynamic simulation provides a powerful framework for characterizing internal loads and for predicting changes in movement due to injury, impairment or surgical intervention. However, the computational challenge of generating simulations has greatly limited the use and application of forward dynamic models for simulating human gait. In this study, we introduce an optimal estimation appro...

As walking speed increases, consistent relationships emerge between the three determinant parameters of walking, speed, step frequency and step length. However, when step length or step frequency are predetermined rather than speed, different relationships are spontaneously selected. This result is expected if walking parameters are selected to optimize to an underlying objective function, know...