Accurate and precise terrain estimation is a difficult problem for robot locomotion in real-
world environments. Thus, it is useful to have systems that do not depend on accurate …

Leg morphology is an important outcome of evolution. A remarkable morphological leg
feature is the existence of biarticular muscles that span adjacent joints. Diverse studies from …

Lower limb exoskeletons require the correct support magnitude and timing to achieve user
assistance. This study evaluated whether the sign of the angular velocity of lower limb …

While a number of controllers exist for dynamic humanoid walking over known uneven
terrain, the ability to negotiate moderate changes in ground height without environment …

Phase variable control based on global tibia kinematics holds promise for predicting gait
cycle progression to continuously control robotic transtibial prostheses. Calibration of the …

Inspired from template models explaining biological locomotory systems and Raibert׳ s
pioneering legged robots, locomotion can be realized by basic sub-functions: elastic axial …

Template models, which are utilized to demonstrate general aspects in human locomotion,
mostly investigate stance leg operation. The goal of this paper is presenting a new …

Swing-leg retraction in walking is the slowing or reversal of the forward rotation of the swing
leg at the end of the swing phase prior to ground contact. For retraction, a hip torque is often …

In recent years, model-free Deep Reinforcement Learning (RL) has become an increasingly
popular alternative to more traditional model-based or optimization-based control methods …

In the US alone, over 2 million individuals are estimated to be living with limb loss today, and
185,000 new limb amputations occur each year [5]. With the growing prevalence of obesity …