Lower-limb exoskeletons provide people who suffer from lower limb impairments with an
opportunity to stand up and ambulate. Standing up is a crucial task for lower-limb …

Legged locomotion enables robotic platforms to traverse on rough terrain, which is quite
challenging for other locomotion types, such as in wheeled and tracked systems. However …

为改善被动行走机器人的步态特性, 受人体躯干同时具有刚性骨骼和柔性软组织启发,
提出一种带刚柔仿生躯干的被动行走机器人模型, 并研究其非线性动力学特性 …

Falls are a major issue for bipeds. For elderly adults, falls can have a negative impact on
their quality of life and lead to increased medical costs. Fortunately, interventional methods …

For both humans and robots, falls are undesirable, motivating the development of fall
prediction models. Many mechanics-based fall risk metrics have been proposed and …

A biped dynamic walker with two legs and two feet capable of walking in double support
phase and allowing starting the gait cycle from rest position is proposed. The walker is …

Walking is the basic locomotion pattern for bipedal robots. The walking pattern is widely
generated using the linear inverted pendulum model. The linear inverted pendulum motion …

This work presents a control procedure to overcome perturbations during biped gait. It
exploits the Capture Point dynamics to adapt the gait pattern. This is implemented in two …

This dissertation focuses on developing a fall-tolerant framework for bipedal robots, aiming
to enhance their ability to navigate challenging situations by effectively assessing, adapting …

This research contributes to the development of energy-efficient bipedal running gaits on
compliant ground using the hybrid zero dynamics control framework, which has been …