Abstract: Low-friction foot/ground contacts present a particular challenge for stable bipedal walkers. The slippage of the stance foot introduces complexity in robot dynamics and the general locomotion stability results cannot be ...

Abstract: Bikebot (i.e., bicycle-based robot) is a class of underactuated balance robotic systems that require simultaneous trajectory tracking and balance control tasks. We present a tracking and balance control design of an ...

Abstract: External and internal convertible (EIC) form-based motion control is one of the effective designs of simultaneous trajectory tracking and balance for underactuated balance robots. Under certain conditions, the EIC-based ...

Abstract: Current studies on human locomotion focus mainly on solid ground walking conditions. In this paper, we present a biomechanical comparison of human walking locomotion on solid ground and sand. A novel dataset containing ...

Abstract: Carrying heavy loads costs additional energy during walking and leads to fatigue of the user. Conventionally, the load is fixed on the body. Some recent studies showed energy cost reduction when the relative motion of the ...

Abstract: Shoe–floor interactions play a crucial role in determining the possibility of potential slip and fall during human walking. Biomechanical and tribological parameters influence the friction characteristics between the shoe ...

Abstract: Modeling of the soft-solid frictional interactions plays an important role in many robotic and mechatronic systems design. We present a new model that characterizes the two-dimensional (2D) soft-solid contact interactions. ...

Abstract: Pose estimation of human–machine interactions such as bicycling plays an important role to understand and study human motor skills. In this paper, we report the development of a human whole-body pose estimation scheme with ...