Footholds for design

This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact pivot at ...

We present a method for humanoid robot walking on partial footholds such as small stepping stones and rocks with sharp surfaces. Our algorithm does not rely on prior knowledge of the foothold, but information about an expected foothold can be used to ...

This paper designed a wearable exoskeleton to assist knee joint. We analyzed the anatomical structure and locomotion mechanism of knee joint by OpenSim, and found that knee flexion angle was less than 60° during level walking, and the higher the stair ...