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Anthropomorphic multibody models typically have a fragile sense of balance and generate ground reaction force profiles that do not look similar to experimentally measured human ground reaction force profiles. In contrast, the point-mass spring-loaded-inverted-pendulum (SLIP) can be made to walk or run in a balanced manner with center-of-mass kinematics and(More)
Foot placement has long been recognized as the primary mechanism that humans use to restore balance. Many biomechanists have examined where humans place their feet during gait, perturbations, and athletic events. Roboticists have also used foot placement as a means of control but with limited success. Recently, Wight et al. (2008, "Introduction of the Foot(More)
The primary objective of this research is to model the biomechanical control system employed by the Central Nervous System (CNS) to maintain posture and balance of the HAT (Head-Arms-Torso) during gait. More specifically, the intent is to stabilize a model of the upper body (HAT) so that the HAT response is similar to that found experimentally in human(More)
Shape Memory Alloys (SMAs) are well suited for use as linear actuators. In particular, NiTi wires as linear SMA actuators offer the advantages of light weight, a simple actuation mechanism and high force-to-weight ratio. An additional advantage is that the electrical resistance of the NiTi wires varies intrinsically as the material undergoes a phase change(More)