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A quasi-passive leg exoskeleton is presented for load-carrying augmentation during walking. The exoskeleton has no actuators, only ankle and hip springs and a knee variabledamper. Without a payload, the exoskeleton weighs 11.7 kg and requires only 2 Watts of electrical power during loaded walking. For a 36 kg payload, we demonstrate that the quasi-passive(More)
Control schemes for powered ankle-foot prostheses would benefit greatly from a means to make them inherently adaptive to different walking speeds. Towards this goal, one may attempt to emulate the intact human ankle, as it is capable of seamless adaptation. Human locomotion is governed by the interplay among legged dynamics, morphology and neural control(More)
In this paper, we study the mechanical behavior of leg muscles and tendons during human walking in order to motivate the design of economical robotic legs. We hypothesize that quasi-passive, series-elastic clutch units spanning the knee joint in a musculoskeletal arrangement can capture the dominant mechanical behaviors of the human knee in level-ground(More)
This paper describes a Functionally-Distributed (FD) hand tracking method for hand-gesture-based wearable visual interfaces. The method is an extension of the Distributed Monte Carlo (DMC) tracking method which we have developed. The method provides coarse but rapid hand tracking results with the lowest possible number of samples on the wearable side, and(More)
In this paper, we present a method for co-evolving morphology and controller of bi-ped humanoid robots. Currently, bi-ped walking humanoid robots are designed manually on trial-and-error basis. Thus, engineers have to design control program for apriori designed morphology, neither of them shown to be optimal within a large design space. We propose(More)
RoboCup-2001 was the Fifth International RoboCup Competition and Conference (figure 1). It was held for the first time in the United States, following RoboCup-2000 in Melbourne, Australia; RoboCup-99 in Stockholm; RoboCup-98 in Paris; and RoboCup-97 in Osaka. RoboCup is a research-oriented initiative that pioneered the field of multirobot research of robot(More)
A new type of master-slave control methodology, which has the merits of both unilateral and bilateral ones, is proposed. The methodology is built on switching the unilateral feedback controls of position and force as required using switching and elastic elements. Proposed methodology not only eliminates the demerits of bilateral control, but also supplies(More)
In this paper, we seek to understand how leg muscles and tendons work mechanically during walking in order to motivate the design of efficient robotic legs. We hypothesize that a robotic leg comprising only knee and ankle passive and quasi-passive elements, including springs, clutches and variable-damping components, can capture the dominant mechanical(More)
| This paper presents a method for humanoid walking acquisition with less energy consumption based on a two-stage genetic algorithm. In the rst phase of genetic algorithm, in order to acquire the continuous walking motion, the tness function consists of a walking distance (longer is better). In the second phase, the tness function consists of a walking(More)