scholarly journals Framework for Developing Bio-Inspired Morphologies for Walking Robots

2020 ◽  
Vol 10 (19) ◽  
pp. 6986
Author(s):  
Peter Billeschou ◽  
Nienke N. Bijma ◽  
Leon B. Larsen ◽  
Stanislav N. Gorb ◽  
Jørgen C. Larsen ◽  
...  
Keyword(s):  
Walking Speed ◽  
Dung Beetle ◽  
Object Manipulation ◽  
Step Length ◽  
Legged Robots ◽  
Walking Robots ◽  
Beetle Species ◽  
Step Frequency ◽  
Development Framework ◽  
Interdisciplinary Collaborations

Morphology is a defining trait of any walking entity, animal or robot, and is crucial in obtaining movement versatility, dexterity and durability. Collaborations between biologist and engineers create opportunities for implementing bio-inspired morphologies in walking robots. However, there is little guidance for such interdisciplinary collaborations and what tools to use. We propose a development framework for transferring animal morphologies to robots and substantiate it with a replication of the ability of the dung beetle species Scarabaeus galenus to use the same morphology for both locomotion and object manipulation. As such, we demonstrate the advantages of a bio-inspired dung beetle-like robot, ALPHA, and how its morphology outperforms a conventional hexapod by increasing the (1) step length by 50.0%, (2) forward and upward reach by 95.5%, and by lowering the (3) overall motor acceleration by 7.9%, and (4) step frequency by 21.1% at the same walking speed. Thereby, the bio-inspired robot has longer and fewer steps that lower fatigue-inducing impulses, a greater variety of step patterns, and can potentially better utilise its workspace to overcome obstacles. Hence, we demonstrate how the framework can be used to develop legged robots with bio-inspired morphologies that embody greater movement versatility, dexterity and durability.

scholarly journals Insect–computer hybrid legged robot with user-adjustable speed, step length and walking gait

2016 ◽  
Vol 13 (116) ◽  
pp. 20160060 ◽  
Author(s):  
Feng Cao ◽  
Chao Zhang ◽  
Hao Yu Choo ◽  
Hirotaka Sato
Keyword(s):  
Walking Speed ◽  
Step Length ◽  
Legged Robot ◽  
Step Frequency ◽  
Locomotion Control ◽  
Insect Locomotion ◽  
Implanted Electrodes ◽  
Walking Gait ◽  
Leg Muscles ◽  
Adjustable Speed

We have constructed an insect–computer hybrid legged robot using a living beetle ( Mecynorrhina torquata ; Coleoptera). The protraction/retraction and levation/depression motions in both forelegs of the beetle were elicited by electrically stimulating eight corresponding leg muscles via eight pairs of implanted electrodes. To perform a defined walking gait (e.g. gallop), different muscles were individually stimulated in a predefined sequence using a microcontroller. Different walking gaits were performed by reordering the applied stimulation signals (i.e. applying different sequences). By varying the duration of the stimulation sequences, we successfully controlled the step frequency and hence the beetle's walking speed. To the best of our knowledge, this paper presents the first demonstration of living insect locomotion control with a user-adjustable walking gait, step length and walking speed.

scholarly journals Effectiveness of an ankle–foot orthosis on walking in patients with stroke: a systematic review and meta-analysis

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Yoo Jin Choo ◽  
Min Cheol Chang
Keyword(s):  
Stride Length ◽  
Walking Speed ◽  
Sagittal Plane ◽  
Meta Analysis ◽  
Step Length ◽  
Stride Time ◽  
Plane Angle ◽  
Ankle Foot Orthosis ◽  
Biomechanical Parameters ◽  
Foot Orthosis

AbstractWe conducted a meta-analysis to investigate the effectiveness of ankle–foot orthosis (AFO) use in improving gait biomechanical parameters such as walking speed, mobility, and kinematics in patients with stroke with gait disturbance. We searched the MEDLINE (Medical Literature Analysis and Retrieval System Online), CINAHL (Cumulative Index to Nursing and Allied Health Literature), Cochrane, Embase, and Scopus databases and retrieved studies published until June 2021. Experimental and prospective studies were included that evaluated biomechanics or kinematic parameters with or without AFO in patients with stroke. We analyzed gait biomechanical parameters, including walking speed, mobility, balance, and kinematic variables, in studies involving patients with and without AFO use. The criteria of the Cochrane Handbook for Systematic Reviews of Interventions were used to evaluate the methodological quality of the studies, and the level of evidence was evaluated using the Research Pyramid model. Funnel plot analysis and Egger’s test were performed to confirm publication bias. A total of 19 studies including 434 participants that reported on the immediate or short-term effectiveness of AFO use were included in the analysis. Significant improvements in walking speed (standardized mean difference [SMD], 0.50; 95% CI 0.34–0.66; P < 0.00001; I2, 0%), cadence (SMD, 0.42; 95% CI 0.22–0.62; P < 0.0001; I2, 0%), step length (SMD, 0.41; 95% CI 0.18–0.63; P = 0.0003; I2, 2%), stride length (SMD, 0.43; 95% CI 0.15–0.71; P = 0.003; I2, 7%), Timed up-and-go test (SMD, − 0.30; 95% CI − 0.54 to − 0.07; P = 0.01; I2, 0%), functional ambulation category (FAC) score (SMD, 1.61; 95% CI 1.19–2.02; P < 0.00001; I2, 0%), ankle sagittal plane angle at initial contact (SMD, 0.66; 95% CI 0.34–0.98; P < 0.0001; I2, 0%), and knee sagittal plane angle at toe-off (SMD, 0.39; 95% CI 0.04–0.73; P = 0.03; I2, 46%) were observed when the patients wore AFOs. Stride time, body sway, and hip sagittal plane angle at toe-off were not significantly improved (p = 0.74, p = 0.07, p = 0.07, respectively). Among these results, the FAC score showed the most significant improvement, and stride time showed the lowest improvement. AFO improves walking speed, cadence, step length, and stride length, particularly in patients with stroke. AFO is considered beneficial in enhancing gait stability and ambulatory ability.

An experimental study on feature-based SLAM for multi-legged robots with RGB-D sensors

2017 ◽  
Vol 44 (4) ◽  
pp. 428-441 ◽  
Author(s):  
Michał R. Nowicki ◽  
Dominik Belter ◽  
Aleksander Kostusiak ◽  
Petr Cížek ◽  
Jan Faigl ◽  
...  
Keyword(s):  
Performance Metrics ◽  
State Of The Art ◽  
Building Blocks ◽  
Bundle Adjustment ◽  
The State ◽  
Legged Robots ◽  
Evaluation Methodology ◽  
Walking Robots ◽  
Content Type ◽  
Feature Based

Purpose This paper aims to evaluate four different simultaneous localization and mapping (SLAM) systems in the context of localization of multi-legged walking robots equipped with compact RGB-D sensors. This paper identifies problems related to in-motion data acquisition in a legged robot and evaluates the particular building blocks and concepts applied in contemporary SLAM systems against these problems. The SLAM systems are evaluated on two independent experimental set-ups, applying a well-established methodology and performance metrics. Design/methodology/approach Four feature-based SLAM architectures are evaluated with respect to their suitability for localization of multi-legged walking robots. The evaluation methodology is based on the computation of the absolute trajectory error (ATE) and relative pose error (RPE), which are performance metrics well-established in the robotics community. Four sequences of RGB-D frames acquired in two independent experiments using two different six-legged walking robots are used in the evaluation process. Findings The experiments revealed that the predominant problem characteristics of the legged robots as platforms for SLAM are the abrupt and unpredictable sensor motions, as well as oscillations and vibrations, which corrupt the images captured in-motion. The tested adaptive gait allowed the evaluated SLAM systems to reconstruct proper trajectories. The bundle adjustment-based SLAM systems produced best results, thanks to the use of a map, which enables to establish a large number of constraints for the estimated trajectory. Research limitations/implications The evaluation was performed using indoor mockups of terrain. Experiments in more natural and challenging environments are envisioned as part of future research. Practical implications The lack of accurate self-localization methods is considered as one of the most important limitations of walking robots. Thus, the evaluation of the state-of-the-art SLAM methods on legged platforms may be useful for all researchers working on walking robots’ autonomy and their use in various applications, such as search, security, agriculture and mining. Originality/value The main contribution lies in the integration of the state-of-the-art SLAM methods on walking robots and their thorough experimental evaluation using a well-established methodology. Moreover, a SLAM system designed especially for RGB-D sensors and real-world applications is presented in details.

scholarly journals A Comparison of Treadmill and Overground Walking Effects on Step Cycle Asymmetry in Young and Older Individuals

2013 ◽  
Vol 29 (2) ◽  
pp. 188-193 ◽  
Author(s):  
Hanatsu Nagano ◽  
Rezaul K. Begg ◽  
William A. Sparrow ◽  
Simon Taylor
Keyword(s):  
Older Adults ◽  
Walking Speed ◽  
Step Length ◽  
Treadmill Walking ◽  
Older Individuals ◽  
Aging Effects ◽  
Overground Walking ◽  
Time Data ◽  
Step Cycle ◽  
Step Velocity

Although lower limb strength becomes asymmetrical with age, past studies of aging effects on gait biomechanics have usually analyzed only one limb. This experiment measured how aging and treadmill surface influenced both dominant and nondominant step parameters in older (mean 74.0 y) and young participants (mean 21.9 y). Step-cycle parameters were obtained from 3-dimensional position/time data during preferred-speed walking for 40 trials along a 10 m walkway and for 10 minutes of treadmill walking. Walking speed (young 1.23 m/s, older 1.24 m/s) and step velocity for the two age groups were similar in overground walking but older adults showed significantly slower walking speed (young 1.26 m/s, older 1.05 m/s) and step velocity on the treadmill due to reduced step length and prolonged step time. Older adults had shorter step length than young adults and both groups reduced step length on the treadmill. Step velocity and length of older adults’ dominant limb was asymmetrically larger. Older adults increased the proportion of double support in step time when treadmill walking. This adaptation combined with reduced step velocity and length may preserve balance. The results suggest that bilateral analyses should be employed to accurately describe asymmetric features of gait especially for older adults.

Feasibility Study of Designing a Three Legged Walking Robot: Tribot

1991 ◽  
Author(s):  
Yueh-Jaw Lin ◽  
Aaron Tegland
Keyword(s):  
Feasibility Study ◽  
Legged Robots ◽  
Walking Robots ◽  
Design Parameters ◽  
Optimized Design ◽  
Motion Simulation ◽  
Walking Robot ◽  
Design Considerations ◽  
Simulation Based ◽  
Weight Distributions

Abstract In recent years, walking robot research has become an important robotic research topic because walking robots possess mobility, as oppose to stationary robots. However, current walking robot research has only concentrated on even numbered legged robots. Walking robots with odd numbered legs are still lack of attention. This paper presents the study on an odd numbered legged (three-legged) walking robot — Tribot. The feasibility of three-legged walking is first investigated using computer simulation based on a scaled down tribot model. The computer display of motion simulation shows that a walking robot with three legs is feasible with a periodic gait. During the course of the feasibility study, the general design of the three-legged robot is also analyzed for various weights, weight distributions, and link lengths. In addition, the optimized design parameters and limitations are found for certain knee arrangements. These design considerations and feasibility study using computer display can serve as a general guideline for designing odd numbered legged robots.

scholarly journals Correction: The Gut Microbiomes of Two Pachysoma MacLeay Desert Dung Beetle Species (Coleoptera: Scarabaeidae: Scarabaeinae) Feeding on Different Diets

PLoS ONE ◽  
2016 ◽  
Vol 11 (10) ◽  
pp. e0165376
Author(s):  
Philippa Z. N. Franzini ◽  
Jean-Baptiste Ramond ◽  
Clarke H. Scholtz ◽  
Catherine L. Sole ◽  
Sandra Ronca ◽  
...  
Keyword(s):  
Dung Beetle ◽  
Beetle Species

Locomotion Interfaces for Legged Robots

2020 ◽  
pp. 246-287
Author(s):  
Hisham A. Abdel-Aal
Keyword(s):  
Comparative Study ◽  
Pressure Distribution ◽  
Design Process ◽  
Structural Integrity ◽  
Close Correlation ◽  
Legged Robots ◽  
Walking Robots ◽  
Textural Parameters

This chapter presents a comparative study of the topographical structure of three common biological robotic inspirations: human, canine, and feline feet. It is shown that the metrological roughness of each of the examined feet is customized for the specific locomotion demands of the species. The textural parameters manifest close correlation to the pressure distribution experienced in movement and gait. This correlation enhances the durability and structural integrity of the bio-analogue. It is also shown that the metrological function of the human (plantigrade) feet pads combine that of the back and the front feet pads of the digitigrade mammals examined. It is argued that integrating the targeted engineering of roughness within the design process of robotic feet can enhance the function of walking robots. Further, it offers elegant solutions to some of the current problems encountered in design of humanoids and other bio-inspired walking robots.

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