Human walking is dynamic, stable, and energy efficient. To achieve such remarkable legged locomotion in robots, engineers have explored bipedal robots developed based on two paradigms: trajectory-controlled and passive-based walking. Trajectory-controlled bipeds often deliver energy-inefficient gaits. The reason is that these bipeds are controlled via high-impedance geared electrical motors to accurately follow predesigned trajectories. Such trajectories are designed to keep a biped locally balanced continually while walking. On the other hand, passive-based bipeds provide energy-efficient gaits. The reason is that these bipeds adapt to their natural dynamics. Such gaits are stable limit-cycles through entire walking motion, and do not require being locally balanced at every instant during walking. However, passive-based bipeds are often of round/point foot bipeds that are not capable of achieving and experiencing standing, stopping, and some important bipedal gait phases and events, such as the double support phase. Therefore, the goals of this thesis are established such that the aforementioned limitations on trajectory-controlled and passive-based bipeds are resolved. Toward the above goal, comprehensive simulation and experimental explorations into bipedal walking have been carried out. Firstly, a novel systematic trajectory-controlled gait-planning framework has been developed to provide mechanical insights into bipedal walking in terms of gait characteristics and energy efficiency. For the same purpose, a novel mathematical model of passive-based bipedal walking with compliant hip-actuation and compliant-ankle flat-foot has been developed. Finally, based on mechanical insights that have been achieved by the aforementioned passive-based model, a physical prototype of a passive-based bipedal robot has been designed and fabricated. The prototype experimentally validates the importance of compliant hip-actuation in achieving a highly dynamic and energy efficient gait.

Adults with mental retardation (MR) experience a greater number of falls than their non-disabled peers. To date, efforts to understand the causes for these falls have primarily involved qualitative studies that use largely subjective measures to quantify stability. Performing a more objective biomechanical gait analysis may better explain the reasons for these fall accidents and provide repeatable measures that can be used for comparison to determine the effectiveness of interventions intended to reduce slip-related falls. A gait analysis was conducted to quantify normal walking and slip response characteristics for adults with MR as well as a group of non-disabled age- and gender-matched peers. Kinetic and kinematic data were collected and a number of variables relating to gait pattern, slip propensity, and slip severity were calculated to compare the differences between groups. Results showed that adults with MR exhibit slower walking speeds, shorter step lengths, and greater knee flexion at heel contact suggesting that their gait patterns share more similarities with the elderly than with healthy adults of an equivalent age. Unexpectedly, the MR group demonstrated a lower required coefficient of friction (RCOF) and slower heel contact velocity which, alone, would suggest a reduced slip propensity as compared with the healthy group. A greater peak sliding heel velocity and greater slip distance measures, however, indicate greater slip severity for the MR group. The findings of this study suggest that falls in this population may be attributed to delayed response to slip perturbation as measured by slip distances. / Master of Science

Each year there is an increasing incidence of slip and fall accidents, especially among the elderly population. Existing evidence has identified several aging effects related to slip and fall accidents, yet, the causes of these accidents with advancing age are still little known. The objective of this research was to investigate the factors influencing the initial phase of unexpected slips and falls in younger and older individuals. More specifically, the relationship between ankle strength, the ankle joint power to transfer the whole body center-of-mass during normal gait, and the likelihood of slip-induced falls was identified. The walking experiment and the ankle strength tests were conducted in the Locomotion Research Laboratory, Virginia Tech. Fourteen old (67-79 years old) and 14 young (19-35 years old) individuals participated in this study (7 male and 7 female for each age group).Within a subsequent 20-minute session of natural walking on a linear track, kinematic and kinetic data were collected synchronously. A slippery surface was introduced to the participant on the purpose of unexpected slip event. The ankle strength tests were performed using a dynamometer. The results indicated that ankle strength degradation in older individuals was related to the outcome of slips (i.e., higher frequency of falls). The results also indicated that older individuals' RCOF was less than their younger counterparts. However, older individuals fell more often than younger individuals. It is concluded that friction demand characteristics may not be a total deterministic factor of fall accidents. Thus, the further research should focus not only on the dynamic of slips, but also on the dynamics of falls.</p> / Master of Science

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