Learning Legged Locomotion

Legged locomotion of biological systems can be viewed as a self-organizing process of highly complex system-environment interactions. Walking behavior is, for example, generated from the interactions between many mechanical components (e.g. physical interactions between feet and ground, skeletons an

Adding Adaptable Stiffness Joints to CPG-Based Dynamic Bipedal Walking Generates Human-Like Gaits

In this paper, we propose a seven-link passivity-based dynamic walking model, in order to further understand the principles of real human walking and provide guidance in building bipedal robots. The model includes an upper body, two thighs, two shanks, flat feet and compliant joints. A bio-inspired central pattern generator (CPG)-based control method is applied to the proposed model. In addition, we add adaptable joint stiffness to the motion control. To validate the effectiveness of the proposed bipedal walking model, we carried out simulations and human walking experiments. Experimental results indicate that human-like walking gaits with different speeds and walking pattern transitions can be realized in the proposed locomotor system. ? Springer International Publishing Switzerland 2014.EI

The human pathogenesis of SARS: Gene expression profiling of patients with severe acute respiratory syndrome (SARS)

No abstract availabl