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Biped Walking Using Coronal and Sagittal Movements Based on Truncated Fourier Series [chapter]

Nima Shafii, Luís Paulo Reis, Nuno Lau
2011 Lecture Notes in Computer Science  
Biped walking by using all joint movements and DOFs in both directions (sagittal plane and coronal plane) is one of the most complicated research topics in robotics.  ...  In this paper, angular trajectories of a stable biped walking for a humanoid robot are generated by a Truncated Fourier Series (TFS) approach.  ...  An optimized Truncated Fourier Series is used to produce leg movements in sagittal plane and a model for swinging arms. A new model was also used to generate legs walking movement in coronal plane.  ... 
doi:10.1007/978-3-642-20217-9_28 fatcat:453fwzikobf35oijuf55h2fs7m

Biomechanics of octopedal locomotion: kinematic and kinetic analysis of the spider Grammostola mollicoma

C. M. Biancardi, C. G. Fabrica, P. Polero, J. F. Loss, A. E. Minetti
2011 Journal of Experimental Biology  
gaits, a slow (speed <11cms -1 ) one and a fast one characterised by distinctive 3-D trajectories of COM.  ...  terms of coordination indices and by referring to the octopod as formed by two quadrupeds in series.  ...  Biomechanical analysis The 3-D trajectories of the body COM in local coordinates, as during locomotion on a treadmill, were calculated by applying a mathematical method based on the Fourier analysis of  ... 
doi:10.1242/jeb.057471 pmid:21957107 fatcat:yudag7mxdzcvtp2bakouulqlqa

BIOMECHANICS OF TERRESTRIAL LOCOMOTION: ASYMMETRIC OCTOPEDAL AND QUADRUPEDAL GAITS [article]

CARLO MASSIMO BIANCARDI
2012
The exchange between PE and KE of bCOM during walking gaits occur in a similar fashion from bipeds to octopods, with an energy recovery percentage up to 70% (maximum in walking bipeds) Cavagna and Kaneko  ...  The inverted pendulum model, which applies to walking gaits, is based on the out of phase fluctuation of PE and KE over a stride.  ... 
doi:10.13130/biancardi-carlo-massimo_phd2012-01-31 fatcat:vvzoatj4b5c2fmantjw6mysbam

Book of Abstracts Symposium President Board of Directors Editors

Alberto Leardini, Vincenzo Parenti-Castelli, Ugo Della, Croce, Rita Stagni, Andrea Cutti, Alberto Leardini, Rita Stagni
2012 XII International Symposium on 3D Analysis of Human Movement Technology & Treatment Bologna (Italy)   unpublished
The aim of the present study was to collect longitudinally data from a large group of infants (>20) using inertial sensors over a 6-months period after the onset of independent walking.  ...  This database will allow evaluating the changes in gait temporal parameters, stability and coordination at the beginning of independent walking.  ...  Jacob Seagull, and Mr. Cooper Greene on this study.  ... 
fatcat:lomluaj4fjgbxminxnq7peolsi

The makers of the Protoaurignacian and implications for Neandertal extinction

S. Benazzi, V. Slon, S. Talamo, F. Negrino, M. Peresani, S. E. Bailey, S. Sawyer, D. Panetta, G. Vicino, E. Starnini, M. A. Mannino, P. A. Salvadori (+3 others)
2015 Science  
on Heritage and Past+" (AESOP+), and the French CNRS.  ...  Buckley is thanked for helpful comments on the MS data. We are grateful to Mr.  ...  For the core sample, a total of 28 landmarks -five on the C3, C4 and C5 and six on the C6 and C7-from the mid-sagittal plane were taken from each complete individual using a 3D Microscribe SX2.  ... 
doi:10.1126/science.aaa2773 pmid:25908660 fatcat:6m44miosqzbxljew7jbfm5cm5q

Dynamic balance of bipedal robot based on central pattern generators and deep reinforcement learning

Christos Kouppas
2021
SARAH was able to learn through experience both before and after deployment, which makes it ideal for commercial use, as it could learn based on its introduction within an environment.During the project  ...  One of the most recent bipedal robots, despite that is 12 years old, is NAO robot with a height less than 60cm.  ...  The left image represents the movement of the CoM in the sagittal plane while the right image presents the movement in the coronal plane.  ... 
doi:10.26174/thesis.lboro.14873175.v1 fatcat:xmtrnbu4kbhjnomynzvgqozeha