Modeling of Walking-Gait Parameters and Walking Strategy for Quadruped Robots

Article Engineering, Mechanical

Emerging Gaits for a Quadrupedal Template Model With Segmented Legs

Lorenzo Boffa et al.

Summary: This paper introduces a novel quadrupedal template model with articulated elastic legs, non-constant leg stiffness, and dynamic leg swing. Numerical simulation and a continuation approach are used to discover the gaits emerging from the natural dynamics of the model, as well as characterizing their stability, to generate locomotion patterns for quadrupedal robots.

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME (2023)

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Article Engineering, Electrical & Electronic

An Acceleration-Based Nonlinear Time-Series Analysis of Effects of Robotic Walkers on Gait Dynamics During Assisted Walking

Xianglong Wan et al.

Summary: This article aimed to identify the effects of a robotic walker on gait dynamics. The results showed no significant difference between robotic-walker-assisted walking and rollator-assisted walking, indicating reduced deterministic patterns and increased complexity in gait dynamics.

IEEE SENSORS JOURNAL (2022)

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Article Neurosciences

Walking towards a visually distracting environment does not affect gait kinematics and spatiotemporal parameters of children with cerebral palsy diplegia

H. Bailey et al.

GAIT & POSTURE (2021)

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Article Multidisciplinary Sciences

Human walking in the real world: Interactions between terrain type, gait parameters, and energy expenditure

Daniel B. Kowalsky et al.

Summary: This study quantified the effects of different outdoor terrains on foot motion and net metabolic rate in healthy adults, showing that energy expenditure increased significantly on terrains such as Sidewalk, Dirt, Gravel, Grass, and Woodchips, with Woodchips being 27% costlier than Sidewalk. Terrain type also influenced measures such as stride variability and virtual foot clearance.

PLOS ONE (2021)

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Review Engineering, Multidisciplinary

Development of quadruped walking robots: A review

Priyaranjan Biswal et al.

Summary: Design, development, and motion planning of mobile robots are currently an active area of research in the field of robotics. Among mobile robots, quadrupedal robots are seen as superior to wheeled and tracked robots due to their potential for exploration in various terrains. Spot is highlighted as one of the most advanced and intelligent quadrupedal robots, with detailed discussions on the performance of each quadruped robot and future directions provided in the article.

AIN SHAMS ENGINEERING JOURNAL (2021)

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Article Chemistry, Analytical

Gait Parameters in Healthy Preschool and School Children Assessed Using Wireless Inertial Sensor

Ewa Gieysztor et al.

Summary: The study found that age significantly influences most gait parameters, with support phase shortening and swing phase lengthening with age. The pelvic tilt symmetry index increases with age, and there are variations in gait parameters among different age groups. The research provides basic parameters of typical children's gait for reference in cases of trauma or disability.

SENSORS (2021)

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Article Neurosciences

Combination of Defined CatWalk Gait Parameters for Predictive Locomotion Recovery in Experimental Spinal Cord Injury Rat Models

Ivanna K. Timotius et al.

Summary: This study aimed to identify the optimal parameter combination for evaluating rat SCI recovery. By comparing CatWalk parameters and BBB scores, a SCI gait index score combining nine parameters was proposed and applied in various SCI model experiments, showing higher sensitivity in differentiating recovery.

ENEURO (2021)

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Article Engineering, Mechanical

Kinematic comparison of single degree-of-freedom robotic gait trainers

Jeonghwan Lee et al.

Summary: By evaluating different bar configurations, it was found that the eight-bar design performed significantly better in terms of trajectory error compared to the four- and six-bar designs. However, there were no significant differences in terms of path error and mechanical advantage between configurations. It was concluded that the optimized eight-bar configuration is most effective when connected to a constant velocity actuator.

MECHANISM AND MACHINE THEORY (2021)

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Article Rehabilitation

Alterations of lower extremity function, health-related quality of life, and spatiotemporal gait parameters among individuals with chronic ankle instability

Inje Lee et al.

Summary: This study identified differences in patient-reported outcome questionnaires and spatiotemporal gait parameters during walking between individuals with and without chronic ankle instability (CAI), and found relationships between patient-oriented outcome and spatiotemporal gait parameters. Therefore, treatment for CAI patients should focus not only on ankle function, but also lower extremity function and gait performance.

PHYSICAL THERAPY IN SPORT (2021)

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Article Anatomy & Morphology