Abstract
Human gait analysis is one of the resources that may be used in the study and treatment of pathologies of the locomotive system. This paper deals with the modelling and control aspects of the design, construction and testing of a biped walking robot conceived to, in limited extents, reproduce the human gait. Robot dimensions have been chosen in order to guarantee anthropomorphic proportions and then to help health professionals in gait studies. The robot has been assembled with low-cost components and can reproduce, in an assisted way, real-gait patterns generated from data previously acquired in gait laboratories. Part of the simulated and experimental results are addressed to demonstrate the ability of the biped robot in reproducing normal and pathological human gait.
Highlights
Great effort has been devoted to the development of legged robots that are able to imitate gait patterns, to some extent, similar to those of human beings
Other papers address particular aspects of the problem, such as generation of energy-efficient limb trajectories combined with body stability (Bessonet et al 2004), use of neural networks to model gait (Goncalves and Zampieri 2003) and non-linear oscillators to mimic the medullar central pattern generators’ (CPGs) neuronal circuitry (Aoi and Tsuchiya 2005)
Most of the biped robots found in the literature use more or less arbitrarily chosen limb dimensions, looking for making easier the achievement of a stable gait pattern
Summary
Great effort has been devoted to the development of legged robots that are able to imitate gait patterns, to some extent, similar to those of human beings. Some of them describe the overall design, control, mechanical and electronic issues of specific robots that are being developed around the world (Sakagami et al 2002; Azevedo et al 2004; Aoi and Tsuchiya 2005; Hun-ok Lim and Tajima 2007; Xie et al 2008, just to cite a few). These robots are usually built as active kinematical chains, driven by motors or linear actuators, and present a variable number of degrees of freedom (DOFs).
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