Algorithm of pattern generation for mimicking disabled person&amp;#x2019;s gait

Kondō, Hideki; Morishima, Akitoshi; Ogura, Yu; Momoki, Shimpei; Shimizu, Juri; Lim, Hun-ok; Takanishi, Atsuo

doi:10.1109/biorob.2008.4762891

Cited by 6 publications

(2 citation statements)

References 12 publications

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“…WABOT 1 is the world's first biped walking machine developed at 1970s [3]. Leg architectures of biped walking machines are mostly based on serial kinematic chains, such as Asimo [4], HRP-4C [5], WABIAN-2R [6], BHR-5 [7], COMAN [8]. These biped humanoid robots have 6 degrees of freedom (DOFs) legs with 3-1-2 structure in terms of hip, knee, and ankle DOFs, respectively.…”

Section: Introductionmentioning

confidence: 99%

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Design of a novel hybrid cable-constrained parallel leg mechanism for biped walking machines

Demirel

Kiper²,

Carbone³

et al. 2023

Robotica

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In this paper, a novel cable-constrained parallel mechanism is presented as a lightweight, low-cost leg mechanism design for walking machines to be used on flat surfaces. The proposed leg mechanism has three translational degrees of freedom. It is based on two specific hybrid kinematic topologies being herewith proposed. The paper reports the kinematic analysis formulation and a position performance evaluation to confirm the main characteristics of the proposed solutions. A 3D CAD model and simulations are carried out to demonstrate the feasibility of the proposed design for performing a human-like gait trajectory. A prototype has been built, and preliminarily tests have been conducted to confirm the motion capabilities of the proposed mechanism design. Then a second, enhanced prototype has been designed and built. An experimental validation is carried out for tracking a planar walking trajectory with the built prototypes by using a real-time PCI controller. Results are presented to validate the operation characteristics of the proposed mechanism and to prove its feasibility for legged walking machines.

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Section: Introductionmentioning

confidence: 99%

“…Their mechanical design and control architecture is complex, and costs are high. [3][4][5][6][7][8][9][10][11]. Human leg movement can be represented as a parallel mechanism due to the muscular system by considering the leg anatomy [17,18].…”

Section: Introductionmentioning

confidence: 99%

Design of a novel hybrid cable-constrained parallel leg mechanism for biped walking machines

Demirel

Kiper²,

Carbone³

et al. 2023

Robotica

View full text Add to dashboard Cite

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Design and Simulation of a Novel Hybrid Leg Mechanism for Walking Machines

Demirel

Carbone

Ceccarelli

et al. 2018

New Advances in Mechanism and Machine Science

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This paper introduces a novel hybrid structure design that is composed of rigid links and cables for a robotic leg with static walking. The proposed mechanism is characterized by actuated hip joints, passive knee joints and an actuated prismatic foot joint. The foot is the moving platform of the proposed mechanism which possesses pure translational motion due to the passive parallelograms with cables. Kinematic analysis has been worked out for evaluating a typical human-like gait trajectory. A 3-D model has been developed and simulation are made in SolidWorks® environment. Simulation results show that the proposed mechanism is able to perform an ovoid walking cycle of a foot point and the computed actuator torques and forces are in a feasible range for a low-cost and easy-operation design. The simulation results will be used for a prototype construction in a future work.

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