Relevant bibliographies by topics / Walking gait

Academic literature on the topic 'Walking gait'

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Published: 4 June 2021
Last updated: 1 February 2022

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Journal articles on the topic "Walking gait"

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Coleman, Nailah. "Unsteady Gait - Walking." Medicine & Science in Sports & Exercise 47 (May 2015): 20. http://dx.doi.org/10.1249/01.mss.0000476447.71387.a8.

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Adachi, Hironori, Noriho Koyachi, Tatsuya Nakamura, and Eiji Nakano. "Development of Quadruped Walking Robots and Their Gait Study." Journal of Robotics and Mechatronics 5, no. 6 (December 20, 1993): 548–60. http://dx.doi.org/10.20965/jrm.1993.p0548.

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This paper describes the quadruped walking robots developed at the Mechanical Engineering Laboratory and their gait analysis. Legged locomotion has the potential to adapt itself to changes in walking conditions, but also has problems such as complexity. To overcome these problems, a new link mechanism called ASTBALLEM is used for the legs of the robots, and highly rigid and easily controllable legs are constructed by using this mechanism. To make a legged robot walk stably, it is necessary to provide a suitable gait. In this paper, two kinds of gaits are considered. One is the periodic gait, and it is systematically classified by two parameters. By using this classification method, suitable gaits for static walking and dynamic walking are selected. The other is the adaptive gait. In order to realize their potentials, walking robots must sense the walking conditions and change their gaits. Two adaptive gait schemes are proposed in this paper. One is a gait which adapts to the position of the center of gravity, and the other is a gait for incline terrain. Both gaits use force sensor data for detecting changes in the walking conditions. All the gaits discussed in this paper are experimentally evaluated.
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Thomas, Susan Sienko, and Jenna Barnett. "Walking through Gait Analysis." Orthopaedic Nursing 13, no. 6 (November 1994): 7–13. http://dx.doi.org/10.1097/00006416-199411000-00003.

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Still, S., K. Hepp, and R. J. Douglas. "Neuromorphic Walking Gait Control." IEEE Transactions on Neural Networks 17, no. 2 (March 2006): 496–508. http://dx.doi.org/10.1109/tnn.2005.863454.

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Wong, Jeremy D., Jessica C. Selinger, and J. Maxwell Donelan. "Is natural variability in gait sufficient to initiate spontaneous energy optimization in human walking?" Journal of Neurophysiology 121, no. 5 (May 1, 2019): 1848–55. http://dx.doi.org/10.1152/jn.00417.2018.

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In new walking contexts, the nervous system can adapt preferred gaits to minimize energetic cost. During treadmill walking, this optimization is not usually spontaneous but instead requires experience with the new energetic cost landscape. Experimenters can provide subjects with the needed experience by prescribing new gaits or instructing them to explore new gaits. Yet in familiar walking contexts, people naturally prefer energetically optimal gaits: the nervous system can optimize cost without an experimenter’s guidance. Here we test the hypothesis that the natural gait variability of overground walking provides the nervous system with sufficient experience with new cost landscapes to initiate spontaneous minimization of energetic cost. We had subjects walk over paths of varying terrain while wearing knee exoskeletons that penalized walking as a function of step frequency. The exoskeletons created cost landscapes with minima that were, on average, 8% lower than the energetic cost at the initially preferred gaits and achieved at walking speeds and step frequencies that were 4% lower than the initially preferred values. We found that our overground walking trials amplified gait variability by 3.7-fold compared with treadmill walking, resulting in subjects gaining greater experience with new cost landscapes, including frequent experience with gaits at the new energetic minima. However, after 20 min and 2.0 km of walking in the new cost landscapes, we observed no consistent optimization of gait, suggesting that natural gait variability during overground walking is not always sufficient to initiate energetic optimization over the time periods and distances tested in this study. NEW & NOTEWORTHY While the nervous system can continuously optimize gait to minimize energetic cost, what initiates this optimization process during every day walking is unknown. Here we tested the hypothesis that the nervous system leverages the natural variability in gait experienced during overground walking to converge on new energetically optimal gaits created using exoskeletons. Contrary to our hypothesis, we found that participants did not adapt toward optimal gaits: natural variability is not always sufficient to initiate spontaneous energy optimization.
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Asano, Fumihiko, and Masashi Suguro. "Limit cycle walking, running, and skipping of telescopic-legged rimless wheel." Robotica 30, no. 6 (November 29, 2011): 989–1003. http://dx.doi.org/10.1017/s0263574711001226.

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SUMMARYThis paper investigates the efficiency and properties of limit cycle walking, running, and skipping of a planar, active, telescopic-legged rimless wheel. First, we develop the robot equations of motion and design an output following control for the telescopic-legs' action. We then numerically show that a stable walking gait can be generated by asymmetrizing the impact posture. Second, we numerically show that a stable running gait can be generated by employing a simple feedback control of the control period, and compare the properties of the generated running gait with those of the walking gait. Furthermore, we find out another underlying gait called skipping that emerges as an extension of the walking gait. Through numerical analysis, we show that the generated skipping gaits are inherently stable and are less efficient than the other two gaits.
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Milner, Clare E., Julia A. Freedman, and Xiaopeng Zhao. "Gait Instruction Improves Stiff Knee Gait During Walking." Medicine & Science in Sports & Exercise 43, Suppl 1 (May 2011): 14. http://dx.doi.org/10.1249/01.mss.0000402710.36978.2f.

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Ter, Hon Siong, S. Parasuraman, M. K. A. Ahamed khan, and Irraivan Elamvazuthi. "Walking-Assisted Gait in Rehabilitation." Procedia Computer Science 76 (2015): 257–63. http://dx.doi.org/10.1016/j.procs.2015.12.351.

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Raheem, Firas A., and Murtadha Khudhair Flayyih. "Creeping Gait Analysis and Simulation of a Quadruped Robot." Al-Khwarizmi Engineering Journal 14, no. 2 (March 14, 2019): 93–106. http://dx.doi.org/10.22153/kej.2018.12.004.

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A quadruped (four-legged) robot locomotion has the potential ability for using in different applications such as walking over soft and rough terrains and to grantee the mobility and flexibility. In general, quadruped robots have three main periodic gaits: creeping gait, running gait and galloping gait. The main problem of the quadruped robot during walking is the needing to be statically stable for slow gaits such as creeping gait. The statically stable walking as a condition depends on the stability margins that calculated particularly for this gait. In this paper, the creeping gait sequence analysis of each leg step during the swing and fixed phases has been carried out. The calculation of the minimum stability margins depends upon the forward and inverse kinematic models for each 3-DOF leg and depends on vertical geometrical projection during walking. Simulation and results verify the stability insurance after calculation the minimum margins which indicate clearly the robot COG (Center of Gravity) inside the supporting polygon resulted from the leg-tips.
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Lee, Yoon Haeng, Duc Trong Tran, Jae-ho Hyun, Luong Tin Phan, Ig Mo Koo, Seung Ung Yang, and Hyouk Ryeol Choi. "A gait transition algorithm based on hybrid walking gait for a quadruped walking robot." Intelligent Service Robotics 8, no. 4 (June 11, 2015): 185–200. http://dx.doi.org/10.1007/s11370-015-0173-2.

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Dissertations / Theses on the topic "Walking gait"

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Miao, Shan. "Six legged walking machine gait and design." Thesis, University of Salford, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.300830.

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Hughes-Oliver, Cherice. "Walking Speed, Gait Asymmetry, and Motor Variability." Thesis, Virginia Tech, 2018. http://hdl.handle.net/10919/82551.

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Study design is among the most fundamental factors influencing collection and interpretation of data. The purpose of this study is to understand the effect of design choices by evaluating gait mechanics in healthy control participants using three primary objectives: 1) determine the repeatability of marker placement, 2) determine the effect of set versus self-selected walking speed, and 3) examine the correlation between gait asymmetry and motor variability. Ten and fifty-one healthy control participants were recruited for aim 1 and aims 2/3, respectively. Reflective markers were placed on lower-extremity bony landmarks and participants walked on an instrumented treadmill while 3D motion capture data was collected. For aim 1, this procedure was repeated at two time points 30 minutes apart. For aims 2 and 3, participants completed set and self-selected speed trials. JMP Pro 13 was used to compare joint kinetics and gait kinematics for all aims. Marker placement was repeatable between time points. Participants walked slower in the self-selected walking speed trial, which resulted in both kinematic and kinetic gait mechanics alterations. Gait asymmetry was significantly correlated with motor variability for both spatial and temporal measures. Current study findings reiterated the importance of walking speed when evaluating gait symmetry, joint kinetics, and kinematics. The decision regarding whether to utilize a set or self-selected speed condition within a study design should be made based on whether the measures of interest are independent of walking speed. Gait asymmetry and motor variability are related and should not be treated as independent components of gait.
Master of Science
This study aims to evaluate gait mechanics in healthy young adults by evaluating the impact of multiple study design choices and relationships between different aspects of gait (walking). Loading and movement walking data was collected from a total of sixty-one participants. This data was then used to calculate several measures of gait including symmetry between limbs, joint ranges of motion, and variability of movement. The potential impact of study design choices including setting walking speed for all participants and evaluating loading asymmetry and movement variability independently are discussed based on the findings of the current study.
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Nicolaou, Maria. "Gait adaptations to transverse slopes." Thesis, McGill University, 2001. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=32931.

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The purpose of the study was to identify the lower limb kinematic adaptations made in normal gait to accommodate to static transverse slopes. Five male subjects were asked to walk along a platform at 0%, 5% and 10% slope. Kinematic data for the ankle, knee and hip were collected at 60Hz using the Ultratrak RTM (Polhemus Inc., Burlington, VT, USA) electromagnetic tracking system. Results indicated that significant (p < 0.05) joint angle changes occurred in both the uphill (UH) and downhill (DH) lower limbs. The adaptations served as compensatory changes to functionally shorten the UH limb and lengthen the DH limb.
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Norberg, Jaclyn D. "Biomechanical Analysis of Race Walking Compared to Normal Walking and Running Gait." UKnowledge, 2015. http://uknowledge.uky.edu/khp_etds/20.

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Human locomotion is phenomenon that is extraordinarily complex. It is evident that a complete description of locomotion involves consideration of kinematics, kinetics, and muscle activity of the extremities in all of their various movements. Race walking (RW) is a form of upright locomotion that differs from normal walking and running by its form dictated by the International Amateur Athletics Federation (IAAF). Despite the similarities to both normal walking (NW) and running (RU), RW has not been the subject of equally intensive investigations. This study explores the comprehensive biomechanics of race walking and how it compares to NW and RU. A quantitative approach was used to evaluate kinematic, kinetic and muscle activity variables between race walking and both normal walking and running. A cross-sectional, laboratory design was used on 15 recreationally competitive race walkers to evaluate these variables. Based on the results of this study, RW is an intermediate gait between NW and RU that has characteristics of both gaits, but is still a unique gait in itself. While there are differences between RW and both RU and NW, some of the expected differences between RW and the two gaits did not occur. Significantly greater frontal plane pelvis-trunk joint range of motion and sagittal plane peak hip flexor and extensor moments, hip joint range of motion and rectus femoris muscle activity contribute to the significant differences in both RW and NW, and RW and RU. Significant differences between RW and RU showed that RU requires more contribution from the trunk, pelvis and lower extremities kinematically and kinetically, as well as increased muscle activation, to execute the motion than RW. Conversely, RW requires more contribution from these variables than NW does, but in not as great a capacity as RU compared to RW. In spite of these findings, there were some variables that had no significant differences between RW and RU. This suggests that injuries during RW are similar to those during RU, but may not occur as frequently.
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Harata, Yuji, Fumihiko Asano, Kouichi Taji, and Yoji Uno. "Parametric Excitation Based Gait Generation for Ornithoid Walking." IEEE, 2008. http://hdl.handle.net/2237/12104.

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Dixon, Philippe. "Gait dynamics on a cross-slope walking surface." Thesis, McGill University, 2008. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=112616.

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Though the biomechanics of level walking have been studied extensively, the adaptations required for cross-slope locomotion are still largely unknown despite being a common terrain characteristic. The goals of this thesis were to determine (1) ground reaction forces (GRF) and moments (GRM), (2) lower-limb kinematics, and (3) lower-limb joint reaction forces (JRF) and moments (JRM) during level and cross-slope walking. Statistical analyses were made across limbs (down-slope (DS) and up-slope (US)) and across slope condition (level (0°) and cross-slope (6°)) (2X2 ANOVA). Ten healthy male volunteers performed several barefoot walking trials. The lower-limbs responded asymmetrically to the cross-slope condition by substantially changing (1) the medio-lateral GRF, (2) the sagittal and frontal plane kinematics as well as step-width, and (3) the medio-lateral JRF and frontal plane JRM. The modest cross-slope induced important asymmetrical changes in locomotor patterns and may represent a substantial physical obstacle to populations with restricted mobility.
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Dall'Alpi, Daniele. "Gait generation for a six-legged walking machine." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2018.

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This thesis focuses on the study of a six-legged walking machine. It consists of a chassis and six legs with three revolute joints each. Instead of a feet, each leg features a wheel, so that it is not only capable of walking but also driving. Furthermore, the robot is equipped with a 5-DOF arm and a gripper. The robot uses an Arduino platform for low-level control of the drives and an x86-64 computer for high-level tasks such as flow control, image processing, navigation or obstacle recognition. The aim of this work is to implement a gait generation algorithm in a six-legged walking machine and simulate the behaviour of the system. First of all, a thorough survey of literature considering static gait of multi-legged walking machines, planning-based and reactive controllers needs to be conducted. After deciding on a gait generation approach, the corresponding algorithms will be adapted to the specifications of the robot and implemented for simulation. A kinematic model of the robot is derived. A dynamic model is not needed since we focus on gait planning for statically stable walking. There are two possible modes of operation: remote controlled and autonomous. In the former mode, the robot is controlled from a base station with a gamepad and movement commands are transmitted to the mobile robot. We think that the easiest way to control the robot is to assign the curvature of the desired path (turning radius) and the orientation of the robot with respect to the motion direction (crab angle). In fact, only two inputs are needed in order to perform any general trajectory. In order to achieve the best result for the gait planning, some different procedures are developed. Their performances are compared considering both the stability of the motion and the computation time. Finally, once the gait is generated, inverse kinematics is used to determine motors motion law.
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Zhang, S. J. "Multi-legged walking machines : mechanics, design and gait." Thesis, University of Salford, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.262054.

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Charles, William G. "Dynamic walking models to understand asymmetric gait characteristics." Thesis, Swansea University, 2018. https://cronfa.swan.ac.uk/Record/cronfa48133.

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Passive dynamic walking models remarkably predict gait behaviour such as walk-run transition speeds, preferred step length, stride frequencies and - with the inclusion of springs - ground reaction forces. Muscular or neurological conditions may lead to asymmetric walking characteristics that, in turn, come with long term health risks. Gait analysis may be used to understand an individual patient's conditions to help rehabilitate them. However, people adapt their kinematic and kinetic walking patterns so it can be hard to distinguish the effects of gait alterations such as inertial imbalance or injury. In this thesis a compass walking model with no active controllers is explored to understand the dynamics of gait. To help us interpret the effects of mass imbalance with a prosthetic foot or orthotic device, asymmetric loading conditions are investigated. A simple spring-mass walking model is used to explore the effects of altered touch-down angles and effective leg stiffness to see if these are used as strategies to alter the characteristics of gait. Results show that an asymmetric touch-down angle alters step length while retaining a symmetric stance time. A hybrid model is then derived with springs to emulate human-like ground reaction forces and asymmetric inertial loading of the legs. Results support previous research that push-off from the trailing leg propels the leg mass more than the body mass. Higher rates of joint forces, larger step lengths and a longer stance time on the residual limb may be due to the prosthetic leg stiffness or the higher location of centre-of-mass. These results help us understand how the dynamic components affect gait characteristics such as step length, stance time and walking speeds. This work is motivated by the needs of persons with disabilities and by the desire to understand human walking.
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Richards, James David. "Gait analysis under different testing conditions and their effect on non-pathological and intermittent claudication gait." Thesis, Glasgow Caledonian University, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.267083.

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Books on the topic "Walking gait"

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Watkinson, David K. Study of human gait: Treadmill walking versus normal overground walking. London: University College London in association with the London Foot Hospital and School of Podiatric Medicine, 1996.

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Gait analysis: Normal and pathological function. Thorofare, NJ: SLACK, 1992.

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M, Burnfield Judith, ed. Gait analysis: Normal and pathological function. 2nd ed. Thorofare, NJ: SLACK, 2010.

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Jenkinson, Ann. Functional walking test: A measure of disability. Dublin: Central Remedial Clinic, 1995.

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The human gait. Berlin: Springer-Verlag, 1987.

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Baker, Richard. Measuring walking: A handbook of clinical gait analysis. London: Mac Keith Press, 2013.

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Zhang, S. J. Multi-legged walking machines: Mechanics, design and gait. Salford: University of Salford, 1995.

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Mattsson, Eva. Energy cost of level walking. Stockholm: From the Depts. of Orthopaedics, Baromedicine and Physical Therapy, Karolinska Institute, 1989.

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Weber, Wilhelm Eduard. Mechanics of the human walking apparatus. Berlin: Springer-Verlag, 1992.

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1806-1871, Weber E., ed. Mechanics of the human walking apparatus. Berlin: Springer-Verlag, 1991.

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Book chapters on the topic "Walking gait"

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Richie Jr, Douglas H. "Human Walking: The Gait Cycle." In Pathomechanics of Common Foot Disorders, 45–61. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-54201-6_2.

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Daut, Mohamad Noraffandi, Nur Latif Azyze, Ibrahim M. H. Sanhoury, Mohamad Lukman Nafis, and Shamsudin H. M. Amin. "Stable Dynamic Walking Gait Humanoid." In Intelligent Robotics Systems: Inspiring the NEXT, 427–40. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-40409-2_36.

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Durfee, W. K. "Gait Restoration by Functional Electrical Stimulation." In Climbing and Walking Robots, 19–26. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_2.

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Moronti, M., M. Sanguineti, M. Zoppi, and R. Molfino. "Roboclimber: Proposal for Online Gait Planning." In Climbing and Walking Robots, 997–1003. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_98.

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Hashim, A. Y. Bani, N. A. Abu Osman, and W. A. B. Wan Abas. "An Argument for Walking Gait Profile." In IFMBE Proceedings, 1471–74. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-14515-5_375.

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Ondroušek, V., and J. Krejsa. "Contact Controller for Walking Gait Generation." In Mechatronics, 337–44. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-23244-2_42.

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Sheng, Dong Bo, Hung Nguyen Huy, Pandu Sandi Pratama, Hak Kyeong Kim, Vo Hoang Duy, and Sang Bong Kim. "Walking Gait Planning Using Central Pattern Generators for Hexapod Walking Robot." In AETA 2015: Recent Advances in Electrical Engineering and Related Sciences, 671–84. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-27247-4_56.

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Figliolini, G., and V. Ripa. "Kinematic Model and Absolute Gait Simulation of a Six-Legged Walking Robot." In Climbing and Walking Robots, 889–96. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_87.

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Arbulú, M., I. Prieto, D. Gutiérrez, L. Cabas, P. Staroverov, and C. Balaguer. "User Friendly Graphical Environment for Gait Optimization of the Humanoid Robot Rh-0." In Climbing and Walking Robots, 633–41. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_63.

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Sabourin, Christophe, Kurosh Madani, and Olivier Bruneau. "Autonomous Gait Pattern for a Dynamic Biped Walking." In Informatics in Control Automation and Robotics, 123–39. Berlin, Heidelberg: Springer Berlin Heidelberg, 2008. http://dx.doi.org/10.1007/978-3-540-79142-3_11.

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Conference papers on the topic "Walking gait"

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Hafner, V. V., and F. Bachmann. "Human-Humanoid walking gait recognition." In 2008 8th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2008). IEEE, 2008. http://dx.doi.org/10.1109/ichr.2008.4756011.

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Izadi, M., M. J. Mahjoob, and M. Soheilypour. "Walking Gait of a Single-Tetrahedral Robot: Design, Modeling and Implementation." In ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis. ASMEDC, 2010. http://dx.doi.org/10.1115/esda2010-24434.

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A Tetrahedral Walker (TET Walker) is a robot made to extend space exploration into inaccessible regions. The motion of the tetrahedron is due to the changes in the struts length. This work presents the implementation and walking gait design of a tetrahedron walker robot. A model for walking gait of the robot is developed. A comparison is then made between different computer simulations of the gaits. A navigation algorithm for walking gait of this type of robots is also developed and discussed.
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Wang, Ya, Ping Ren, and Dennis Hong. "Gait and Gait Transition for a Robot With Two Actuated Spoke Wheels." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-86923.

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This paper presents work on the gait and gait transition analysis for a novel mobile robot that uses two actuated spoke wheels. Gait transitions, known as acyclic feed forward patterns, allow the robot to switch from one type of gait to another during walking and turning. The mobile robot IMPASS (Intelligent Mobility Platform with Active Spoke System) uses a unique mobility concept for locomotion, thus gait transition plays an important role in generating gait patterns to walk and turn. The primary focus of this paper is how to perform gait transition between gaits in walking direction. First, the basic gait patterns for steering and straight line walking are presented. More specifically, the critical gait parameterizations and the possible foot positions in different gait patterns to produce capable steering locomotion over terrain are presented. Since IMPASS is expected to utilize its metamorphic configurations to carry out gait transitions, the extending forward and inverse analyses are also presented based on previous work about topology classification and mobility analysis for IMPASS. Then the gait transition analysis and simulation of typical patterns are performed. The results from this work lay the foundation for the future research on trajectory and path planning for IMPASS.
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Soto-Guerrero, Daniel, and Jose Gabriel Ramirez Torres. "K3P: A walking gait generator algorithm." In 2017 14th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE). IEEE, 2017. http://dx.doi.org/10.1109/iceee.2017.8108874.

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Han, Xu, Jiwei Liu, Lei Li, and Zhiliang Wang. "Gait Recognition Considering Directions of Walking." In 2006 IEEE Conference on Cybernetics and Intelligent Systems. IEEE, 2006. http://dx.doi.org/10.1109/iccis.2006.252281.

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Karaharju-Huisnan, T., S. Taylor, R. Begg, J. Cai, and R. Best. "Gait symmetry quantification during treadmill walking." In ANZIIS 2001. Proceedings of the Seventh Australian and New Zealand Intelligent Information Systems Conference. IEEE, 2001. http://dx.doi.org/10.1109/anziis.2001.974076.

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Senanayake, Chathuri M., and S. M. N. Arosha Senanayake. "Evaluation of gait parameters for gait phase detection during walking." In 2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2010). IEEE, 2010. http://dx.doi.org/10.1109/mfi.2010.5604472.

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Harata, Yuji, Koji Iwano, Fumihiko Asano, and Takashi Ikeda. "Suppression of Period-Doubling Bifurcation in Passive Dynamic Walking With Delayed Feedback Control." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70209.

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This paper investigates the effect of period-doubling bifurcation on passive dynamic walking (PDW) of a compass-like biped robot which consists of three point masses and two legs. The gait pattern of the robot consists of a single-support phase and a double-support phase which occurs instantaneously. The support and swing legs are exchanged at the double-support phase. Period-doubling bifurcation of PDW occurs when the slope angle of the ground becomes large, and the robot walks with a long step and a short step, alternately. Hip torque is designed based on delayed feedback control (DFC) to suppress the bifurcation. The equation of motion for the robot is numerically integrated and the walking speed is calculated. The simulation results show an increase in walking speed after a period-two gait emerges. Then, DFC is applied to the gait and stabilizes it to a period-one gait. After a period-four gait emerges, DFC is also applied to the period-four gait and stabilize it to period-two and period-one gaits. By comparing the period-one gait with the period-four and the period-two gaits, it is shown that the period-two gait has the fastest mean walking speed. The effect of the robot parameters is investigated and it is shown that the fastest walking speed for the period-one gait can be obtained when a leg mass position is chosen to a certain value.
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Yan Gu, Bin Yao, and C. S. George Lee. "Bipedal gait recharacterization and walking encoding generalization for stable dynamic walking." In 2016 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2016. http://dx.doi.org/10.1109/icra.2016.7487324.

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Agrawal, Abhishek, and Sunil K. Agrawal. "Identifying Gait Patterns for Dynamically Stable Walking." In ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2004. http://dx.doi.org/10.1115/detc2004-57343.

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We anticipate that the motion of biped machines should be similar to human motion to achieve dynamic stability. In this paper, a novel approach to compute dynamically stable gait of a planar six degree-of-freedom biped is presented. This approach is analytical and is based on periodic property of a gait cycle. The resulting gait satisfies all dynamic stability criteria.
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Reports on the topic "Walking gait"

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Yang, Xinwei, Huan Tu, and Xiali Xue. The improvement of the Lower Limb exoskeletons on the gait of patients with spinal cord injury: A protocol for systematic review and meta-analysis. INPLASY - International Platform of Registered Systematic Review and Meta-analysis Protocols, August 2021. http://dx.doi.org/10.37766/inplasy2021.8.0095.

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Review question / Objective: The purpose of this systematic review and meta-analysis was to determine the efficacy of lower extremity exoskeletons in improving gait function in patients with spinal cord injury, compared with placebo or other treatments. Condition being studied: Spinal Cord Injury (SCI) is a severely disabling disease. In the process of SCI rehabilitation treatment, improving patients' walking ability, improving their self-care ability, and enhancing patients' self-esteem is an important aspect of their return to society, which can also reduce the cost of patients, so the rehabilitation of lower limbs is very important. The lower extremity exoskeleton robot is a bionic robot designed according to the principles of robotics, mechanism, bionics, control theory, communication technology, and information processing technology, which can be worn on the lower extremity of the human body and complete specific tasks under the user's control. The purpose of this study was to evaluate the effect of the lower extremity exoskeleton on the improvement of gait function in patients with spinal cord injury.
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