The locomotion robots have wheeled, biped, quadruped and so on. Walking robot may not move faster or more popular than wheeled robot. But walking robot is a good assistant to pass through the rough roadway and to explore unknown landforms. The advantages of walking robot have: mobility, walking in danger environment, across obstacles, up stairs and down stairs and nimbleness. These difficulties environment are the obstacles for the wheeled robot. Today, many robots are designed to make up for human body and ability. Application in explore the outer space, to relieve the victims of a disaster, to move work, to offer greater convenience to the people, housekeeper, to substitute for handicapped limbs and so on. In the thesis, we analyze the gait of biped robot. Biped robot arrive a destination rapidly in the limit environment. Biped can use turning motion gait to bypass obstacles. We purpose to maintain motion velocity of biped robot and come out the speed and stride distance of the biped robot. The studies have: biped robot turning design, planning humanoid motion gait and experiment motion gait.

No description available.

Thesis (Ph. D.)--University of Washington, 2002. / Vita. Includes bibliographical references (leaves 153-160).

Thesis (M.S.)--Florida State University, 2003. / Advisor: Dr. Tonya Toole, Florida State University, College of Human Sciences, Dept. of Nutrition, Food, and Exercise Sciences. Title and description from dissertation home page (viewed Sept. 23, 2003). Includes bibliographical references.

Thesis (Ph. D.)--University of Washington, 2003. / Vita. Includes bibliographical references (p. 329-334).

No description available.

The factors that influence gait velocity post-stroke are not clearly understood. This thesis sought to uncover the factors associated with gait velocity, particularly those related to maximum velocity. The first of two studies investigated the associations between physical factors and preferred and maximum gait velocity. Analysis revealed that individuals with stroke were able to increase gait velocity from preferred and that this increase, along with the achieved velocity, were related to functional balance. The second study characterized the strategy individuals used to increase gait velocity, and compared between the stroke and healthy population. It also probed the relationships between cadence, step length, strategy, and post-stroke impairment. This study demonstrated that individuals with stroke rely more on cadence than step length to increase gait velocity. These results revealed the role of balance control on limiting gait velocity and the need for specific measures of impairment in research to direct clinical practice.

The factors that influence gait velocity post-stroke are not clearly understood. This thesis sought to uncover the factors associated with gait velocity, particularly those related to maximum velocity. The first of two studies investigated the associations between physical factors and preferred and maximum gait velocity. Analysis revealed that individuals with stroke were able to increase gait velocity from preferred and that this increase, along with the achieved velocity, were related to functional balance. The second study characterized the strategy individuals used to increase gait velocity, and compared between the stroke and healthy population. It also probed the relationships between cadence, step length, strategy, and post-stroke impairment. This study demonstrated that individuals with stroke rely more on cadence than step length to increase gait velocity. These results revealed the role of balance control on limiting gait velocity and the need for specific measures of impairment in research to direct clinical practice.

Walking is an essential task important to recovery after stroke. However, there is a limited understanding regarding the characteristics of walking in in-patients with stroke. The objectives of this thesis were to: 1) develop an instrument capable of acquiring temporal characteristics of everyday walking; 2) investigate the quantity and control of everyday walking; and 3) profile the task-specific link between walking and cardiorespiratory response. In study 1 we developed and validated a wireless monitoring system (ABLE system). Study 2 revealed low quantities of everyday walking (4816 steps; SD 3247) characterized by short bout durations (59.8s; SD 23.4) and asymmetric walking. In study 3 we observed a modest task-related response in HR(19.4% HRR); however, the intensity and duration of everyday walking did not approach the guidelines for aerobic benefit. Monitoring in-patient walking can help guide clinical decision making in developing methods to maximize recovery after stroke.

A great deal of research has been done on the adaptive strategies of individuals who have been affected by a gait altering ailment, but there is little research on the adaptive strategies to imposed restrictions in the healthy population. The role of the ankle in healthy gait is to generate a “push-off” force to create forward propulsion of the body (Winter, 2004). The purpose of this thesis was to identify adaptation patterns and compensation strategies in individuals while wearing and not wearing a device to reduce ankle motion(Ankle Motion Minimizer – AMM). Motion capture and force plate data were collected to determine the lower body kinematics and joint powers during both level ground walking and obstacle avoidance tasks. Repeated Measure ANOVAs with an alpha level of 0.05 determined that differences in the ankle angles and the ankle, knee, and hip powers existed between the various conditions. Results showed that participants had a decreased range of motion and power production at the ankle joint while wearing the AMM. Meanwhile, an increase in the power bursts from the ipsilateral knee were observed during the AMM conditions as well as small increases at the contralateral ankle and ipsilateral hip during the unilateral AMM condition. EMG analysis showed a distinct muscle activation pattern for each individual muscle during the different conditions. From this investigation, individuals who are unable to produce power through the ankle joint, were able to increase power propulsion predominately at the knee to compensate for the lack of propulsion provided by the ankle, therefore allowing ambulation to continue.