Concept

Walking

Related publications (277)

Online walking motion and foothold optimization for quadruped locomotion

Jonas Buchli, Farbod Farshidian, Alexander Winkler

Abstract: We present an algorithm that generates walking motions for quadruped robots without the use of an explicit footstep planner by simultaneously optimizing over both the Center of Mass (CoM) trajectory and the footholds. Feasibility is achieved by i ...

2018

When walking peters out: investigating distance-decay and time-decay for daily walking

Vincent Kaufmann, Emmanuel Pierre Jean Ravalet, Derek Pierre Christie, Dominic Villeneuve, Fernando Anisio De Oliveira Simas

In Switzerland, walking accounts for 30% of trips and 44% of single-mode episodes. This is higher than in many countries but does not account for walking distances or durations, which tend to be short according to evidence from North America. This contribu ...

2018

Control of Bio-Inspired Sprawling Posture Quadruped Robots with an Actuated Spine

Tomislav Horvat

Sprawling posture robots are characterized by upper limb segments protruding horizontally from the body, resulting in lower body height and wider support on the ground. Combined with an actuated segmented spine and tail, such morphology resembles that of s ...

EPFL2018

Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization

Jonas Buchli, Marco Hutter, Alexander Winkler

We present a single trajectory optimization formulation for legged locomotion that automatically determines the gait sequence, step timings, footholds, swing-leg motions, and six-dimensional body motion over nonflat terrain, without any additional modules. ...

2018

Time-projection control to recover inter-sample disturbances, application to bipedal walking control

Auke Ijspeert, Philippe Müllhaupt, Salman Faraji

We present a new walking controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions of 3LP, the proposed controlle ...

2018

Closed-Loop Functional Electrical Stimulation for Gait Training for Patients with Paraplegia

Mohamed Bouri, Solaiman Shokur

This paper presents a novel functional electrical stimulation paradigm to generate locomotion in paraplegic patients. We propose a closed-loop surface functional electrical stimulation (sFES) of 16 lower-limb muscles to produce all subphases of the gait. T ...

IEEE2018

HiBSO Hip Exoskeleton: Toward a Wearable and Autonomous Design

Hannes Bleuler, Mohamed Bouri, Jonathan Olivier, Amalric Louis Ortlieb

HiBSO is an active orthosis designed to assist the hip flexion-extension of the elderly. A fully autonomous system with untethered power electronics and energy supply is now available. Going beyond the restricted walking conditions of a treadmill unveils m ...

SPRINGER INTERNATIONAL PUBLISHING AG2018

Graphical approach to assess urban quality: Mapping walkability based on the TOD-standard

Gloria Serra Coch

Graphical expression through mapping can be an essential tool to conduct urban analysis, capable of expressing contextual spatial distribution and providing complementary information to numerical analysis. Although urban analytics are central for most issu ...

2018

Two management strategies for improving passenger transfer experience in train stations

Michel Bierlaire, Riccardo Scarinci, Nicholas Alan Molyneaux

Exploiting the full potential of pedestrian infrastructures in order to satisfy the demand induced by public transport modes is key to achieving good level-of-service for passengers during transfers. High temporal variability in demand can lead to high con ...

2018

Optimization-based motion planning for legged robots

Alexander Winkler

Legged machines have the potential to traverse terrain that wheeled robots cannot. These capabilities are useful in scenarios such as stairs in homes or debris-filled disaster scenes, such as earthquake areas. This thesis develops one of the algorithms nec ...

ETH Zurich2018

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