Showing 1-25 of 3,365 resultsfor "Index Terms":Walking Stability
"Index Terms":Walking Stability
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A study on stability of passive dynamic walking model with flat feet
2012 Proceedings of SICE Annual Conference (SICE)
Year: 2012 | Conference Paper |
Biped robots based on limit cycle walking paradigm commonly need less energy than other models and generate pretty natural gait, since this paradigm has fewer artificial constraints on walking motion compared to other conventional ones. To increase its performance and to realize a practical biped, the model needs further studies on its stability, disturbance rejection capability, and versatility, ...Show More
Section-Map Stability Criterion for Biped Robots Part II: Applications and Experiments
2007 International Conference on Mechatronics and Automation
Year: 2007 | Conference Paper |
Section-map stability criterion is a extension of Poincare return map, and is applicable not only to dynamic walking which ZMP criterion can not solve, but also to non-periodic walking which Poincare return map criterion cannot solve. By applying section-map stability criterion, several walking indices are defined, a planning method for walking patterns based on indices atlases is proposed, and th...Show More
Assessment of Human Walking Stability Using the Gait Sensitivity Norm with Wearable Sensors
2021 IEEE International Conference on Mechatronics (ICM)
Year: 2021 | Conference Paper |
Quantifying walking stability is needed in order to evaluate the various walking assist methods. It can also allow the planning of individualized interventions for elderly people or patients with disorders. The Gait Sensitivity Norm (GSN) is a new measure of the walking stability developed for passive dynamic walkers and has been reported to show a strong correlation with the fall risk. The GSN is...Show More
Local dynamic stability of lower extremity joints in lower limb amputees during slope walking
2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
Year: 2013 | Conference Paper |
Cited by: Papers (1)
Lower limb amputees have a higher fall risk during slope walking compared with non-amputees. However, studies on amputees' slope walking were not well addressed. The aim of this study was to identify the difference of slope walking between amputees and non-amputees. Lyapunov exponents λS was used to estimate the local dynamic stability of 7 transtibial amputees' and 7 controls' lower extremity joi...Show More
Walking assistance system for walking stability by using human motion information
Seonghye Kim;Kiichi Hirota;Takahiro Nozaki;Toshiyuki Murakami
2017 IEEE International Conference on Mechatronics (ICM)
Year: 2017 | Conference Paper |
Cited by: Papers (2)
In an aging society, most of walking assistance device has been researched in an aspect of augmentation system which assists the human walking by torque enough. However the user depends on the performance of assistance device without the independent reliance. Therefore we researched the compensation system which offers the minimum torque required during the human walking. Furthermore the stability...Show More
Section-Map Stability Criterion for Biped Robots Part I: Theory
2007 International Conference on Mechatronics and Automation
Year: 2007 | Conference Paper |
Cited by: Papers (5)
Stability criterion is the key problem in the theoretical framework of biped robots, and it is the precondition of walking patterns planning and real-time control. ZMP (zero moment point) criterion and Poincare return map criterion are the two representative stability criteria for biped walking; however, they are not applicable to dynamic walking and non-periodic walking respectively. To establish...Show More
Local dynamic stability of the trunk segments and lower extremity joints during backward walking
2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
Year: 2015 | Conference Paper |
Backward walking has become a popular training method in physical exercise and clinical rehabilitation. For the sake of safety, it is important to keep a stable gait during backward walking. However, the gait stability during backward walking was rarely studied. This study investigated the effects of walking direction on local dynamic stability of the trunk segments (neck, torso and pelvis) and lo...Show More
The analysis of human walking stability using ZMP in sagittal plane
Shizhen Meng;Shanhai Jin;Junqiang Li;Kazunobu Hashimoto;Shijie Guo;Shijie Dai
2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)
Year: 2017 | Conference Paper |
Cited by: Papers (2)
This paper investigates the difference of walking stability between the young and the elderly by using the method of zero moment point(ZMP) in sagittal plane. 3 young subjects and 3 elderly subjects participated in free walking experiment in a straight line on level ground. Motion capture system was used to collect the experimental data of lower limbs movement while walking. Experimental results s...Show More
Proving Asymptotic Stability of Dynamic Walking for a Five-Link Biped Robot with Feet
2006 IEEE Conference on Robotics, Automation and Mechatronics
Year: 2006 | Conference Paper |
Cited by: Papers (4)
During the dynamic walking of biped robots, the underactuated rotating DOF emerges between the support foot and the ground. This makes the biped model hybrid and dimension-variant. In this paper, we present the definition of orbit stability for dimension-variant hybrid systems (DVHS). Based on the work of Grizzle et al. (2001), we generalize Poincare theorem to a class of DVHS, and this result is ...Show More
Local Dynamic Stability of Gait in People With Early Multiple Sclerosis and No-to-Mild Neurological Impairment
Antonio Caronni;Elisa Gervasoni;Maurizio Ferrarin;Denise Anastasi;Giampaolo Brichetto;Paolo Confalonieri;Rachele Di Giovanni;Luca Prosperini;Andrea Tacchino;Claudio Solaro;Marco Rovaris;Davide Cattaneo;Ilaria Carpinella
Poor dynamic balance, such as poor walking stability, is a hallmark of multiple sclerosis. Instrumental measures of local dynamic stability (LDS, e.g. short-term Lyapunov's exponents, sLyEs) are genuine measures of walking stability and increasingly used as dynamic balance indicators. The current work aims to investigate if people with multiple sclerosis (PWMS) with no clinical evidence of gait im...Show More
Local Dynamic Stability of Gait in People With Early Multiple Sclerosis and No-to-Mild Neurological Impairment
Antonio Caronni;Elisa Gervasoni;Maurizio Ferrarin;Denise Anastasi;Giampaolo Brichetto;Paolo Confalonieri;Rachele Di Giovanni;Luca Prosperini;Andrea Tacchino;Claudio Solaro;Marco Rovaris;Davide Cattaneo;Ilaria Carpinella
An overview of the underactuated biped robots
2011 IEEE International Conference on Information and Automation
Year: 2011 | Conference Paper |
Cited by: Papers (1)
This paper presents an overview on underactuated biped robots. Firstly, background, latest research and characteristics of underactuated biped robot are introduced. Secondly, the model of underactuated biped walking system is described. And then the stability criterion based on hybrid zero dynamics theory and the Poincaré map is discussed. Meanwhile, commonly used methods for off-line gait plannin...Show More
Human Motion Analysis and Its Application to Walking Stabilization With COG and ZMP
Seonghye Kim;Kiichi Hirota;Takahiro Nozaki;Toshiyuki Murakami
A stability index has been generally used in a gait system of formulaic structure. In this standardized structure, a human model has a center of gravity (COG), while a robot device has a zero moment point (ZMP) with COG as the stability standard in the walking motion. In the gait system of wearable type, the stability of human model is closely related with the robot device, in other words, the COG...Show More
Stretch-legged walking in sagittal plane
2007 7th IEEE-RAS International Conference on Humanoid Robots
Year: 2007 | Conference Paper |
Cited by: Papers (1)
This paper presents a new forward walking pattern known as stretch-legged walking. Additionally, what has been termed the Walking Guide Platform (WGP) was developed to verify the developed walking pattern. For the WGP, a robot that can move in a sagittal plane was created. Next, a guide system and treadmill were developed. Those systems minimize disturbances from other motions except the sagittal ...Show More
The Effect of Swing Leg Retraction on Biped Walking Stability is Influenced by the Walking Speed and Step-Length
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2018 | Conference Paper |
Swing Leg Retraction (SLR) is observed in human walking and running. Previous studies have concluded that SLR improves the stability and robustness of biped walking. But this conclusion was based on analysis of robot models that can only walk at a very small range of step-lengths and slow or fixed speeds. By contrast, humans can walk with a large range of speeds and step-lengths. Moreover, human w...Show More
Generation of humanoid walking pattern based on human walking measurement
Qiang Huang;Zhangguo Yu;Weimin Zhang;Xingguang Duan;Yuancan Huang;Kejie Li
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots
Year: 2008 | Conference Paper |
Walking pattern generation has been a crucial issue for humanoid robot. To generate more natural walking patterns, and determine parameters more reasonably, this paper presents a method for humanoid walking pattern generation based on human walking characteristics. The characteristics of human walking parameters were obtained by capturing and analyzing human walking data. Walking pattern parameter...Show More
Measurement of human walking and generation of humanoid walking pattern
2007 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Year: 2007 | Conference Paper |
Walking pattern generation has been a crucial issue for humanoid robot. To generate more natural walking patterns, and determine parameters more reasonably, this paper presents a method of walking pattern generation for humanoid based on human walking characteristics. The characteristics of human walking parameters were obtained by capturing and analyzing human walking data. Walking pattern parame...Show More
Human-like walking patterns with pelvic rotation for a humanoid robot
Wen Zhang;Qiang Huang;Zhangguo Yu;Gao Huang;Xuechao Chen;Jing Li;Gan Ma;Libo Meng;Yan Liu;Si Zhang;Weimin Zhang;Junyao Gao
Proceeding of the 11th World Congress on Intelligent Control and Automation
Year: 2014 | Conference Paper |
Cited by: Papers (4)
Fast and stable walking is one of the important prerequisite for humanoid robots to serve the people. Pelvic rotations play a significant role when one walks fast. This paper proposes a method to generate human-like walking patterns with pelvic rotation in the transverse plane for a humanoid robot to effectively improve its quickness and stability. First, the regularities of pelvic rotation in the...Show More
A New Stability Framework for Trajectory Tracking Control of Biped Walking Robots: A Dissemination Version
2024 24th International Conference on Control, Automation and Systems (ICCAS)
Year: 2024 | Conference Paper |
This paper introduces a novel stability criterion for biped walking systems using the linear inverted pendulum model in which the dynamics between the center of mass (CoM) and the zero moment point (ZMP) is dealt with. The criterion is based on ensuring that the ZMP error, the difference between the reference and real ZMP, remains within a specified area to maintain walking stability. Considering ...Show More
The paper is about a biped walking robot that has 12 degrees of freedom and achieves proper gate stability with visual feedback during walking. The bipedal robot is equipped with cheap FSR sensors those are attached underneath the soles of the robot to obtain ZMP instantaneously. It uses a cheap USB camera that is attaching on its head to process images of environment during walking. With the proc...Show More
Walking Analysis using an Acceleration Sensor
2007 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
Year: 2007 | Conference Paper |
Cited by: Papers (5)
It is important to evaluate walking stability to improve people's health. There are many cases of unstable walking even if people think they are in good health. A small, light acceleration sensor was attached to subjects' center of gravity to measure the acceleration displacement while the subjects were walking. By using the seasonal adjustment model it was possible to predict the periodic fluctua...Show More
Stabilization of Unstable Limit Cycles in a Push-off Based Dynamic Walker by Reversible Switching Surfaces
2019 7th International Conference on Robotics and Mechatronics (ICRoM)
Year: 2019 | Conference Paper |
Cited by: Papers (3)
By employing the concept of “Reversible Switching Surfaces” (RSS), we demonstrate that it is possible to stabilize unstable periodic orbits of a push-off based dynamic walker. The concept is implemented by a simple event-based control which kinematically controls the foot during the swing phase to adjust the heel-strike. The feedback controller is designed based on the theory of Virtual Holonomic ...Show More
Walking Pattern Generation for Humanoid Robot Considering Upper Body Motion
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
Year: 2006 | Conference Paper |
Cited by: Papers (13)
Walking pattern generation is a main issue for humanoid robot. We have already proposed a method for planning stable walking pattern. Based on this method, this paper mainly discusses generating stable and harmonious walking pattern by considering upper body motion, and planning hip trajectories in both sagittal plane and lateral plane. To reduce the iterative computation cost, some constraints of...Show More
The Elderly Fall Risk Assessment and Prediction Based on Gait Analysis
2011 IEEE 11th International Conference on Computer and Information Technology
Year: 2011 | Conference Paper |
Cited by: Papers (32)
In this paper, a cell phone and a three dimension accelerometer are used to develop a simple fall risk prediction system. Accelerometer offers a practical and low cost method of objectively monitoring human walking. This paper gives the gait stability and gait symmetry definition only under the data conditions of acceleration. According to the gait model, the stability and symmetry of gait are ana...Show More
Statically balanced walking of a crawler robot
2011 IEEE International Instrumentation and Measurement Technology Conference
Year: 2011 | Conference Paper |
Cited by: Papers (1)
This research paper presents new technique for a crawler robot to achieve statically balanced walking. The gait design and its control of walking robot require the stability against tipping over while walking. These factors need to be treated in a more specific fashion than the wheeled robots, as there are discrete changes in the support of the robot when the legs are lifted or placed. The stabili...Show More
Global stability analysis for plane limit cycle walking models with feet and actuation
Proceedings of SICE Annual Conference 2010
Year: 2010 | Conference Paper |
Biped robots based on limit cycle walking paradigm commonly need less energy than other models and generate pretty natural gait, because this paradigm has fewer artificial constraints to walking motion compared to other conventional ones. To increase performance and to realize a practical biped, the model needs further studies on its stability, disturbance rejection capability, and versatility, th...Show More
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