Browsing Systems Design Engineering by Subject "legged locomotion"
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Energy Regeneration and Environment Sensing for Robotic Leg Prostheses and Exoskeletons
(University of Waterloo, 2021-12-23)Robotic leg prostheses and exoskeletons can provide powered locomotor assistance to older adults and/or persons with physical disabilities. However, limitations in automated control and energy-efficient actuation have ... -
A Foot Placement Strategy for Robust Bipedal Gait Control
(University of Waterloo, 2008-05-23)This thesis introduces a new measure of balance for bipedal robotics called the foot placement estimator (FPE). To develop this measure, stability first is defined for a simple biped. A proof of the stability of a simple ...