Virtual Constraints and Hybrid Zero Dynamics for Realizing Underactuated Bipedal Locomotion

Underactuation is ubiquitous in human locomotion and should be ubiquitous in bipedal robotic locomotion as well. This chapter presents a coherent theory for the design of feedback controllers that achieve stable walking gaits in underactuated bipedal robots. Two fundamental tools are introduced, virtual constraints and hybrid zero dynamics. Virtual constraints are relations on the state variables of a mechanical model that are imposed through a time-invariant feedback controller. One of their roles is to synchronize the robot's joints to an internal gait phasing variable. A second role is to induce a low dimensional system, the zero dynamics, that captures the underactuated aspects of a robot's model, without any approximations. To enhance intuition, the relation between physical constraints and virtual constraints is first established. From here, the hybrid zero dynamics of an underactuated bipedal model is developed, and its fundamental role in the design of asymptotically stable walking motions is established. The chapter includes numerous references to robots on which the highlighted techniques have been implemented.Comment: 17 pages, 4 figures, bookchapte

Continuous second order sliding mode based finite time tracking of a fully actuated biped robot

International audienceA second order sliding mode controller is modified to form a continuous homogeneous controller. Uniform finite time stability is proved by extending the homogeneity principle of discontinuous systems to the continuous case with uniformly decaying piece-wise continuous nonhomogeneous disturbances. The modified controller is then utilised to track reference trajectories for all the joints of a fully actuated biped robot where the joint torque is modeled as the control input. The modified controller ensures the attainment of a finite settling time between two successive impacts. The main contribution of the paper is to provide straightforward and realizable engineering guidelines for reference trajectory generation and for tuning a robust finite time controller in order to achieve stable gait of a biped in the presence of an external force disturbance. Such a disturbance has destabilising effects in both continuous and impact phases. Numerical simulations of a biped robot are shown to support the theoretical results

Evolution of central pattern generators for the control of a five-link bipedal walking mechanism

Central pattern generators (CPGs), with a basis is neurophysiological studies, are a type of neural network for the generation of rhythmic motion. While CPGs are being increasingly used in robot control, most applications are hand-tuned for a specific task and it is acknowledged in the field that generic methods and design principles for creating individual networks for a given task are lacking. This study presents an approach where the connectivity and oscillatory parameters of a CPG network are determined by an evolutionary algorithm with fitness evaluations in a realistic simulation with accurate physics. We apply this technique to a five-link planar walking mechanism to demonstrate its feasibility and performance. In addition, to see whether results from simulation can be acceptably transferred to real robot hardware, the best evolved CPG network is also tested on a real mechanism. Our results also confirm that the biologically inspired CPG model is well suited for legged locomotion, since a diverse manifestation of networks have been observed to succeed in fitness simulations during evolution.Comment: 11 pages, 9 figures; substantial revision of content, organization, and quantitative result

Legged Robots

International audienc

Legged Robots

International audienc

The Changing Landscape for Stroke\ua0Prevention in AF: Findings From the GLORIA-AF Registry Phase 2

Background GLORIA-AF (Global Registry on Long-Term Oral Antithrombotic Treatment in Patients with Atrial Fibrillation) is a prospective, global registry program describing antithrombotic treatment patterns in patients with newly diagnosed nonvalvular atrial fibrillation at risk of stroke. Phase 2 began when dabigatran, the first non\u2013vitamin K antagonist oral anticoagulant (NOAC), became available. Objectives This study sought to describe phase 2 baseline data and compare these with the pre-NOAC era collected during phase 1. Methods During phase 2, 15,641 consenting patients were enrolled (November 2011 to December 2014); 15,092 were eligible. This pre-specified cross-sectional analysis describes eligible patients\u2019 baseline characteristics. Atrial fibrillation disease characteristics, medical outcomes, and concomitant diseases and medications were collected. Data were analyzed using descriptive statistics. Results Of the total patients, 45.5% were female; median age was 71 (interquartile range: 64, 78) years. Patients were from Europe (47.1%), North America (22.5%), Asia (20.3%), Latin America (6.0%), and the Middle East/Africa (4.0%). Most had high stroke risk (CHA2DS2-VASc [Congestive heart failure, Hypertension, Age  6575 years, Diabetes mellitus, previous Stroke, Vascular disease, Age 65 to 74 years, Sex category] score  652; 86.1%); 13.9% had moderate risk (CHA2DS2-VASc = 1). Overall, 79.9% received oral anticoagulants, of whom 47.6% received NOAC and 32.3% vitamin K antagonists (VKA); 12.1% received antiplatelet agents; 7.8% received no antithrombotic treatment. For comparison, the proportion of phase 1 patients (of N = 1,063 all eligible) prescribed VKA was 32.8%, acetylsalicylic acid 41.7%, and no therapy 20.2%. In Europe in phase 2, treatment with NOAC was more common than VKA (52.3% and 37.8%, respectively); 6.0% of patients received antiplatelet treatment; and 3.8% received no antithrombotic treatment. In North America, 52.1%, 26.2%, and 14.0% of patients received NOAC, VKA, and antiplatelet drugs, respectively; 7.5% received no antithrombotic treatment. NOAC use was less common in Asia (27.7%), where 27.5% of patients received VKA, 25.0% antiplatelet drugs, and 19.8% no antithrombotic treatment. Conclusions The baseline data from GLORIA-AF phase 2 demonstrate that in newly diagnosed nonvalvular atrial fibrillation patients, NOAC have been highly adopted into practice, becoming more frequently prescribed than VKA in Europe and North America. Worldwide, however, a large proportion of patients remain undertreated, particularly in Asia and North America. (Global Registry on Long-Term Oral Antithrombotic Treatment in Patients With Atrial Fibrillation [GLORIA-AF]; NCT01468701

Downloaded from

This paper investigates ballistic motions in walking quadrupeds on a horizontal plane. The study is carried out on a quadruped consisting of a body and four identical two-link legs. Each leg has a knee joint and is connected to the body by a haunch joint. Three types of quadruped gaits, bound, amble, and trot, are studied. None of these gaits complies with a flight phase, but they all involve simultaneous and identical motion of two legs. Muscle activities are commonly believed to alternate with periods of relaxation. Our study, therefore, assumes that the swing phase is ballistic, i.e., no active control torque is exerted. Ballistic motion is achieved through appropriate initial velocities. These velocities result from impulsive active control torques and ground reactions exerted at the boundary instants of the single support phase. Natural ballistic motions are shown to exist for the three gaits and for each valid walking velocity class. Torque cost analysis shows that amble and trot gaits are more efficient than bound. KEY WORDS—walking robot, quadruped, ballistic motion, impulsive control, reference trajectories 1

Profiling older community-dwellers with hypovitaminosis D: A classification tree analysis

Despite the high prevalence of hypovitaminosis D in older adults, universal vitamin D supplementation is not recommended due to potential risk of intoxication. Our aim here was to determine the clinical profiles of older community-dwellers with hypovitaminosis D. The perspective is to build novel strategies to screen for and supplement those with hypovitaminosis D. A classification tree (CHAID analysis) was performed on multiple datasets standardizedly collected from 1991 older French community-dwelling volunteers ≥ 65 years in 2009-2012. Hypovitaminosis D was defined as serum 25-hydroxyvitamin D ≤ 50 nmol/L. CHAID analysis retained 5 clinical profiles of older community-dwellers with different risks of hypovitaminosis D up to 87.3%, based on various combinations of the following characteristics: polymorbidity, obesity, sadness and gait disorders. For instance, the probability of hypovitaminosis D was 1.42-fold higher [95CI: 1.27-1.59] for those with polymorbidity and gait disorders compared to those with no polymorbidity, no obesity and no sadness. In conclusion, these easily-recordable measures may be used in clinical routine to identify older community-dwellers for whom vitamin D supplementation should be initiated

Microstructure de la mayonnaise = Microstructure of mayonnaise

Mayonnaise is a very popular sauce widely consumed all over the world. Crucial properties of mayonnaise for consumers such as stability, texture, colour and aspect depend on microstructure of the emulsion. The aim of this study was to characterize the microstructure of mayonnaise.Mayonnaise was produced in an agitated vessel (Rayneri Turbotest 33P/750 equipped with a defloculeuse turbine) controlled in velocity (300-3300 rot/min) and temperature. Microstructure was studied using Laser granulometry, scanning electron microscopy (SEM) and environmental microscopy.For given operating conditions, the comparison of Sauter mean diameter measured by Laser granulometry in two dilution media (water and SDS) has shown that the size of particle is higher in water (7.3 µm) than in SDS (2.2 µm) leading to the hypothesis of aggregation of oil droplets. The observation of images obtained by scanning electron microscopy has confirmed the presence of aggregates and has shown that they were arranged along a fractal pattern.La mayonnaise est une sauce très populaire consommée dans de nombreux pays. Pour le consommateur, des propriétés importantes telles que la stabilité, la texture, la couleur et l'aspect dépendent de la microsctructure de l'émulsion. L'objectif de l'étude était de caractériser la microstructure de la mayonnaise. La mayonnaise a été produite dans une cuve agitée (Rayneri Turbotest 33P/750 muni d'une turbine defloculeuse) contrôlée en vitesse (300-3300 tours/min) et température. Trois méthodes ont été utilisées pour étudier la microstructure : la granulométrie Laser, la microscopie électronique à balayage (MEB) et la microscopie environnementale. Pour des conditions opératoires fixées, la comparaison du diamètre moyen de Sauter mesuré par granulométrie Laser dans deux milieux diluants (eau et SDS) a montré que la taille des particules est plus élevée dans l'eau (7.3 µm) que dans le SDS (2.2 µm), conduisant à l'hypothèse d'une agrégation des gouttelettes d'huile. L'observation des images obtenues en MEB a confirmé la présence d'agrégats et a montré une organisation suivant une structure fractale