So-called robot–object Lagrangian systems consist of a class of nonsmooth underactuated
complementarity Lagrangian systems, with a specific structure: an “object” and a “robot” …

Gait coordination (GC), meaning that one leg moves in the same pattern but with a specific
phase lag to the other, is a spontaneous behavior in the walking of a healthy person. It is …

In this article, a recursive approach is used to dynamically model a tree-type robotic system
with floating base. Two solution procedures are developed to obtain the time responses of …

Understanding and mimicking human gait is essential for design and control of biped
walking robots. The unique characteristics of normal human gait are described as passive …

Throwing is a rapid coordinated movement with high configuration and actuation
redundancies. Based on a previous work, this paper advances a numerical framework that …

This paper focuses on cyclic gait planning and motion control of a five-link biped robot with
four actuators. The biped walking consists of two alternative phases of motion: single …

This paper presents a simplified method of dynamic equations in a generalized coordinate
system, which decouples the relative motion of the front and back links of the robot joint, and …

The dynamics associated with the impact of the crutch with the ground is an important topic
of research, since this is known to be the main cause of mechanical energy loss during …

In this paper a novel gait generation technique is proposed, whose objective is to optimize
the mechanical design of actuated bipeds in order to reduce energy consumption. The …

With the rapidly ageing of the world's population, the WHO predicted that, by 2050, there will
be about one billion people who are 65 years or older suffering from mobility-related …