Recent advances in bipedal walking robots: Review of gait, drive, sensors and control systems
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 …
solutions are based on the use of the principles of human gait created in nature during …
Robust and efficient walking with spring-like legs
J Rummel, Y Blum, A Seyfarth - Bioinspiration & biomimetics, 2010 - iopscience.iop.org
The development of bipedal walking robots is inspired by human walking. A way of
implementing walking could be performed by mimicking human leg dynamics. A …
implementing walking could be performed by mimicking human leg dynamics. A …
Prototype, control system architecture and controlling of the hexapod legs with nonlinear stick-slip vibrations
The paper introduces the constructed prototype of the hexapod robot designed based on the
biomechanics of insects for inspection and operation applications as well as for different …
biomechanics of insects for inspection and operation applications as well as for different …
A biped gait learning algorithm for humanoid robots based on environmental impact assessed artificial bee colony
Gait pattern performance is a very important issue in the field of humanoid robots, and more
and more researchers are now engaged in such studies. However, the tuning processes of …
and more researchers are now engaged in such studies. However, the tuning processes of …
Modelling and control of actuated lower limb exoskeletons: a mathematical application using central pattern generators and nonlinear feedback control techniques
MO Ajayi - 2016 - theses.hal.science
Wearable robotic system has become a well sought after mechanism in the field of
biomechatronics engineering due to the the various possibilities it possess. These …
biomechatronics engineering due to the the various possibilities it possess. These …
Natural walking reference generation based on double-link LIPM gait planning algorithm
In this paper, an enhanced linear inverted pendulum model (LIPM) and a gait planning
algorithm are proposed. The LIPM is a widely used concept for gait reference generation …
algorithm are proposed. The LIPM is a widely used concept for gait reference generation …
Biologically inspired layered learning in humanoid robots
A hierarchical paradigm for bipedal walking which consists of 4 layers of learning is
introduced in this paper. In the Central Pattern Generator layer some Learner-CPGs are …
introduced in this paper. In the Central Pattern Generator layer some Learner-CPGs are …
[PDF][PDF] Autonomous walking machines-discussion of the prototyping problems
T Zielińska - Bulletin of the Polish academy of sciences …, 2010 - bibliotekanauki.pl
An improvement of the computer technology caused the progress in building of the
developed machines, indispensable in some works which are too dangerous or onerous for …
developed machines, indispensable in some works which are too dangerous or onerous for …
Rhythmic trajectory design and control for rehabilitative walking in patients with lower limb disorder
Wearable robotic systems have been a mechanism which clearly drives the motive of
bringing back paraplegics back on their feet as well as executing difficult task beyond …
bringing back paraplegics back on their feet as well as executing difficult task beyond …
Implementation of imitation learning using natural learner central pattern generator neural networks
H Shahbazi, R Parandeh, K Jamshidi - Neural Networks, 2016 - Elsevier
In this paper a new design of neural networks is introduced, which is able to generate
oscillatory patterns. The fundamental building block of the neural network is O-neurons that …
oscillatory patterns. The fundamental building block of the neural network is O-neurons that …