Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 18 of 18 for “"Foot placement"”.
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A Deep-learning based Approach for Foot Placement Prediction
Foot placement prediction can be important for exoskeleton and prosthesis controllers, human-robot interaction, or body-worn systems to prevent slips or trips. Previous studies investigating foot placement prediction have been limited to predicting foot placement during the swing phase, and do not …
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Effects of foot placement on resultant joint moments in the lower extremity joints during the squat
… of this study was to investigate the effects of foot placement on normalized resultant joint moments of the lower extremity joints in sagittal and frontal planes during the squat. A total of 42 skilled participants (21 male and 21 female) performed squat trials (five trials per condition) with a …
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Adaptability of gait in stroke survivors
… by difficulty in controlling and adjusting foot placement in response to the environment. In healthy adults’ foot placement control is known to be influenced by balance control, available response time and executive function. All these factors are known to be affected by stroke; however, how …
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Real-time quadruped gait controller for rough terrain locomotion
… to achieve stability irrespective of the foot placement constrained by the actual terrain. The controller was simulated on the HERMES humanoid robot using randomized terrain and the performance of the controller was investigated.
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Robust execution of bipedal walking tasks from biomechanical principles
… within a particular time, while observing foot placement constraints, and avoiding a fall, if this is physically possible. Although stable walking machines have been built, the problem of task-level control, where the tasks have stringent state-space and temporal requirements, and where …
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Investigating age-related differences in visual sampling behaviour during adaptive locomotion and their consequences for stepping accuracy
… delayed gaze transfer from a target, their foot placement showed greater accuracy and consistency. Secondly, we investigated a possible relationship between increased anxiety about upcoming obstacles and early gaze transfers away from an initial target. We found that progressively increasing …
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Real-Time Self-Collision Avoidance for Dynamic Legged Robots
… other control objectives, such as stability or foot placement. Ensuring that these conflicts are resolved in real-time is critical for hardware deployment. This work presents a reactive collision avoidance framework that combines Control Barrier Functions with a Whole-Body Controller that can …
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A Machine Learning Approach for Next Step Prediction in Walking using On-Body Inertial Measurement Sensors
… linear step distance predictions before future foot placement. Specifically, on-body inertial measurement units consisting of accelerometers, gyroscopes, and magnetometers, through integrated development by Xsens, are used for measuring human walking behavior in real-time. The data collection …
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High-Dimensional Design Evaluations For Self-Aligning Geometries
… are also useful for other cases such as foot placement and stability, grasping or manipulation. Previously, computational limitations and costly algorithms prevented high-dimensional analysis. The algorithms presented in this dissertation will show a reduced computational time and …
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The Effect of Two Maintenance Procedures on an Equine Arena Surface in Relation to Motion of the Hoof and Metacarpophalangeal Joint
… design. Hoof range of motion (ROM) and displacement as well as metacarpophalangeal joint (MCPJ) extension and third metacarpal (MCIII) inclination were analysed using ANOVA. Surface hardness and traction were also measured. Speed was monitored using a marker on the sternum. No difference …
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Control of Rapid Acceleration in a Planar Legged Robot
… and hip for high bandwidth torque control and foot placement. Kemba is capable of bounding at up to 1.7m/s with a full flight phase, jumping just under 1mhigh (2.2 times it's nominal leg length), and accelerating from rest into a top speed bound in only 2 strides and under half a second, …
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Metastable legged-robot locomotion
… a level of flexibility, reliability and careful foot placement that would enable practical locomotion on the variety of rough and intermittent terrain humans negotiate with ease on a regular basis. In this thesis, we strive toward this particular goal by developing a methodology for designing …
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Pressure distribution beneath the foot in sideslope walking
Dynamic loading profiles beneath the human foot during sideslope walking were determined and differences to level walking established. The contact area of the foot was measured, and the arch index derived from the footprint. Thirty healthy adults walked on a tillable walkway which had a polymer …
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Failures in adaptive locomotion in healthy young adults
… would contact the obstacle due to incorrect foot placement when visual and somatosensory information were not manipulated. I hypothesized that healthy young adults would be able to use an obstacle memory to successfully cross the obstacle when both feedforward visual information and …
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Reconfiguration and tool path planning of hexapod machine tools
… method which includes the consideration of foot-placement space (FPS) determination and placement parameter identification has been developed. Based on the desired workspace of a hexapod and the motion range of its leg modules, the FPS of a hexapod machine is defined and a construction …
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Trunk Biomechanical Responses during Sudden Loading
… In this study we explored the effects of foot placement, load handling position as well as uneven ground conditions on trunk biomechanical responses under sudden loading event.;In the first experiment we investigated the effects of different foot placements and load asymmetry on trunk …
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Gaze behaviour and gait smoothness when navigating complex environments
… with relevant information such as safe foot placement spaces. These changes in gait can disrupt gait symmetry and cause a less smooth gait. The aim of the study was to determine the relationship between gaze indicators of information processing and gait smoothness during real-world and …
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Experimental Study on the Mobility of Lightweight Vehicles on Sand
… the kinematics of locomotion (gait and foot placement) and proposed starting points for the development of terramechanics models so as to compare their mobility and performance with more traditional wheeled and tracked vehicles. In this study several new autonomous vehicles—bipedal, …