A walking trajectory tracking control approach for a walking electrohydraulic control system is developed to reduce the walking trajectory tracking deviation and enhance robustness. The model uncertainties are estimated by a designed state observer....
In part II of this group of papers, the control of the gait of a biped robot during rectilinear walk was considered. The modeling approach and simulation, using Kane’s method with implementation leveraged by Autolev, a symbolic computational environm...
In this paper, a new approach involving the use of a mobile manipulator to assist humans with mobility impairments to walk is proposed. First, in order to achieve flexible interaction between humans and mobile manipulators, we propose a variable admi...
This is the second part of a three-part paper. It extends to the free walking results of a previous work on postural equilibrium of a lower limb exoskeleton for rehabilitation exercises. A classical approach has been adopted to design gait (zero mome...
In the development of assistive lower-limb exoskeletons, both exoskeleton design, and gait control are critical for their successful applications. This paper introduces an assistive lower-limb exoskeleton (ALEXO) for active walking assistance. The de...
Lower-limb exoskeletons as walking assistive devices have been intensively investigated in recent decades. In these studies, intention detection and performance evaluation are important topics. In our previous studies, we proposed a disturbance obser...
Exoskeleton robots are electrically, pneumatically, or hydraulically actuated devices that externally support the bones and cartilage of the human body while trying to mimic the human movement capabilities and augment muscle power. The lower extremit...
Walking algorithms using push-off improve moving efficiency and disturbance rejection performance. However, the algorithm based on classical contact force control requires an exact model or a Force/Torque sensor. This paper proposes a novel contact f...
Research on a terrain-blind walking control that can walk stably on unknown and uneven terrain is an important research field for humanoid robots to achieve human-level walking abilities, and it is still a field that needs much improvement. This pape...
This paper presents the development, control, and experimental validation of a novel bipedal robot with a passive tendon. The robot, featuring foldable legs, coaxial actuation, and compact folded size, is endowed with a leg configuration with a five-...
Autonomous navigation technology is the basis of underground crawler walking equipment automation. Based on research of the sector laser pose parameter detection method, a pose detection system based on a cross laser is proposed. The mathematical mod...
10 May 2021
Postural control during walking is maintained by the combination of various factors. Among these factors, adjustment of trunk movement is essential for maintaining postural control, and the response of muscles to unpredictable stimuli affects postura...
The dynamic motor control index is an emerging biomarker of age-related neuromuscular impairment. To date, it has been computed by quantifying the co-activity of eleven lower limb muscles. Because clinics that routinely employ electromyography typica...
28 October 2019
Background: This study aimed to compare the acute effects of high-intensity interval training (HIIT) versus moderate-intensity continuous training (MICT) on glycemic control in middle-aged and older patients with type 2 diabetes (T2D), using treadmil...
As urban areas keep growing, there are higher requirements for the carrying capacity of traffic operations, and there are more and more curve incremental launching projects with complex construction conditions. This paper builds upon the walking incr...
Acquiring adequate sensory information and using it to provide motor control are important issues in the process of creating walking robots. The objective of this article is to present control algorithms for the optimization of the walking cycle of a...
For collaboration of humans and bipedal robots in human environments, this paper proposes a stability control method for dynamically modifiable bipedal walking using a capture point (CP) tracking controller. A reasonable reference CP trajectory for t...
Control subarea division is essential for coordinated signal control, but methods based mainly on local correlation or static topology may not adequately capture traffic-state propagation under dynamic traffic loading. This study proposes a control s...
In order to solve various security risks faced by image privacy protection, we propose a 3D cuboid image encryption scheme based on message-encoded controlled alternate quantum walks. Firstly, we calculated the initial parameters of the quantum syste...
This paper introduces a robust neural adaptive MIMO control strategy to improve the stability and adaptability of bipedal locomotion amid uncertainties and external disturbances. The control combines nonlinear dynamic inversion, finite-time convergen...
The operation of walking excavators on rugged terrain often leads to leg lift-off, which can result in uneven force distribution, accelerated structural wear, and even systemic instability. To address these issues, this paper proposes a coordinated c...
Early brain lesions which produce cerebral palsy (CP) may affect the development of walking. It is unclear whether or how neuromuscular control, as evaluated by muscle synergy analysis, differs in young children with CP compared to typically developi...
Biped robots swing their legs alternately to achieve highly dynamic walking, which is the basic ability required for them to perform tasks. However, swinging of the swinging leg in the air will disturb the interaction between the supporting leg and t...
Restoration of walking ability of Spinal Cord Injury subjects can be achieved by different approaches, as the use of robotic exoskeletons or electrical stimulation of the user’s muscles. The combined (hybrid) approach has the potential to provide a s...
Background: Cognitive and physical deficits are core features of schizophrenia. Although Baduanjin and brisk walking (BW) have shown promise as intervention strategies, comparative evidence with follow-up and considering maintenance is limited. Objec...
In recent years, fractional HIV models have received increasing attention. This study derives a fractional HIV model using the continuous-time random walk (CTRW) method, endowing the mathematical model with physical significance. Based on the transmi...
Background: Muscle health decline is a major concern in postmenopausal women; however, most interventions have focused on exercise as an isolated component. It remains unclear whether embedding exercise within a broader lifestyle framework enhances m...
Background: Transtibial prostheses are commonly classified as endoskeletal or exoskeletal and differ in weight, adaptability, and mechanical response, which may influence gait performance. This study examined whether prosthesis type affects overgroun...
An efficient motor-control system for stable walking of the lightweight humanoid robot KONDO KHR-3HV on inclined surfaces is investigated. The motor-control system is based on the angular velocity of the pitch motion of the robot, which is detected b...
In recent years, we have seen a constant increase in the capabilities of walking robots, leading to early cases of their practical use, and a much broader application is expected in the near future. However, creating a robust control design (in the p...
Load carriage and uphill walking are conditions that either individually or in combination can compromise postural control and gait eliciting several musculoskeletal low back and lower limb injuries. The objectives of this study were to investigate p...
Biped robots are similar to human beings and have broad application prospects in the fields of family service, disaster rescue and military affairs. However, simplified models and fixed center of mass (COM) used in previous research ignore the large-...
The design of bipedal robots is generally fulfilled through considering a sequential design approach, where a synergistic relationship between its structure and control features is not promoted. Hence, a novel integrated structure-control design appr...
This paper presents a hybrid force/position control. We developed it for a hexapod walking robot that combines multiple bipedal robots to increase its load. The control method integrated Extenics theory with neutrosophic logic to obtain a two-stage d...
In this paper, we propose a CPG (central pattern generator) network control system using motor dynamics for the gait planning of a quadruped robot with a trot walking pattern to climb up and down a slope and turn back and follow the symmetry of route...
In the domain of bionic walking control for biped robots, optimizing the parameters of the central pattern generator (CPG) presents a formidable challenge due to its high-dimensional and nonlinear characteristics. The traditional particle swarm optim...
Aims: Idiopathic toe walking (ITW) is persistent forefoot walking without identifiable neurological or orthopedic causes. Emerging evidence suggests sensory–motor contributions, yet performance-based evaluations are limited. This study aimed to...
Background/Objectives: After spinal cord injury (SCI), poor dorsiflexor control and involuntary plantar-flexor contraction impair walking. As whole-body vibration (WBV) improves voluntary muscle activation and modulates reflex excitability, it may im...
Background: Children with idiopathic toe-walking (ITW) may experience difficulty during postural tasks and are more likely to perceive physical activity as difficult and challenging. This study aimed to compare postural control and muscle endurance i...
This paper presents a complete planner and controller scheme to achieve balance and walking for a biped robot, which does not need to distinguish the robot’s dynamic model parameters. The high-level planner utilizes model predictive control to...
This paper addresses the fundamental challenge of achieving stable and efficient walking in a lightweight, underactuated humanoid robot that lacks an ankle roll degree of freedom. To tackle this relevant critical problem, we present a hierarchical op...
4 November 2022
The purpose of this study was to determine the effect of walking training “Interval Walking Training (IWT)” on oral health status. Participants were divided into two groups: an exercise intervention group and a non-intervention group (con...
This paper investigates the locomotion of bipedal robots, with a focus on knee-extended walking. While knee joint extension is essential for efficient human walking, humanoid robots face challenges such as pose singularities, and traditional control...
Currently, there is an intensive development of bipedal walking robots. The most known solutions are based on the use of the principles of human gait created in nature during evolution. Modernbipedal robots are also based on the locomotion manners of...
Pediatric patients can suffer from different motor disorders that limit their neurological and motor development and hinder their independence. If treated at the very early stages of development, those limitations can be palliated or even removed. Ho...
A biped robot is a mechanical multichain system. The peculiar features, that distinguishes this kind of robot with respect to others, e.g., industrial robots, is its switching nature between different phases, each one is the same mechanics subject to...
Quadruped robots are used in various scenarios, but their rigid structure limits their applications. In contrast, soft structures offer greater flexibility, adaptability, and lower costs but struggle with motion modeling and control stability. This p...
Functional electrical stimulation systems are used as neuroprosthetic devices in rehabilitative interventions such as gait training. Stimulator triggers, implemented to control stimulation delivery, range from open- to closed-loop controllers. Finite...
Bipedal locomotion remains one of the major open challenges of humanoid robotics. The common approaches are based on simple reduced model dynamics to generate walking trajectories, often neglecting the whole-body dynamics of the robots. As motions in...
The under-actuated foot rotation that the heel of the stance leg lifts off the ground and the body rotates around the stance toe is an important feature in human walking. However, it is absent in the realized walking gait for the majority of biped ro...
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