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 Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...

In this thesis, I present a method to optimize the clock-driven, periodical walking pattern of a humanoid robot for forward speed using metaheuristics. I start from a hand-tuned open-loop gait and enhance it with two feedback control mechanisms. First, I employ a P-controller to regulate the foot angle to reduce angular velocity of the robot’s body. The angular velocity is measured by a gyrosco...

Gait identification task becomes difficult due to the change of appearance by different cofactors (e.g., shoe, surface, carrying, view, and clothing). Some parts of gait are affected by cofactors and other parts remains unaffected. Most of the gait identification systems consider only most effective parts thereby omitting less effective parts. However some significant features for gait identifi...

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait methods, it is usually assumed that torso keeps vertical during walking. It very intuitive and simple. However, may not be efficient. this paper, we propose a with pitch motion (TPM) We also present keeping (TKV) to study effects TPM energy efficiency define cyclic five-link robot several par...

Leg compliance, gravity and ground have a significant impact on the performance and gait characteristics of a quadruped robot. This paper presents results obtained using a planar lumped parameter model of a quadruped robot and an extensive research scheme to determine optimum design parameters for a quadruped moving in different gravity environments. Hildebrand diagrams are used to classify qua...

The investigation of gait strategies at low gravity environments gained momentum recently as manned missions to the Moon and to Mars are reconsidered. Although reports by astronauts of the Apollo missions indicate alternative gait strategies might be favored on the Moon, computational simulations and experimental investigations have been almost exclusively limited to the study of either walking...

This paper describes the concept for a cooperatively controlled combination of Functional Electrical Stimulation (FES) with a motor-driven exoskeleton for gait rehabilitation in hemiplegic patients. The objective is to combine the therapy advantages of FES with a mechanical bracing system, which provides sufficient stabilization and supports a physiological gait pattern. A multi-layered, switch...