Humanoid robots are similar in dimension and degrees of freedom to humans. Compared with other types robots, humanoid more adaptable complex living environment various tools The combination wheeled robot is an effective way increase the moving speed, range motion environmental adaptability which can accelerate application human environments. In this way, use industry services be effectively improved. This article introduces a novel electrically-driven wheel-legged BHR-W 14 freedom. It wheels...

Abstract Biped robots with dynamic motion control have shown strong robustness in complex environments. However, many planning methods rely on models, which difficulty dynamically modifying the walking cycle, height, and other gait parameters to cope environmental changes. In this study, a heuristic model-free template method is proposed. The trajectory can be generated by inputting desired speed, support height without model. Then, stable of biped robot realized foothold adjustment...

To face the challenge of adapting to complex terrains and environments, we develop a novel wheel-legged robot that can switch motion modes adapt different environments. The perform efficient stable upright balanced locomotion on flat roads flexible crawling in low narrow passages. For passing through passages, propose control strategy methods for transitioning between robots. In practical applications, smooth transition two is challenging. By optimizing gravity work body, optimal trajectory...

The muscles of the lower limbs directly influence leg motion, therefore, limb muscle exercise is important for persons living with disabilities. This paper presents a medical assistive robot exoskeletons locomotion and exercises. It also novel pedal-cycling actuation method crank-rocker mechanism. mechanism driven by single motor mechanical structure that ensures user safety. A control system designed based on master-slave sensor fusion method. Here, intended motion detected pedal-based...

This article presents a design of novel wheelchair with leg exoskeleton for locomotion that can be powered by user legs through cycling action. In addition, the control system is designed leg-motion assistance lower limb muscles to perform exercise during motion, targeting elderly persons and users partial hemiplegia. The simulation results characterize dynamic operation in three possible modes, fully active, passive, passive–active

In this paper a new design of wheelchair is presented with an actuation given by the user's action through leg exoskeleton linked to wheelchair. The designed properly for fairly simple operation that can be also planned as exercising users. characterized performance results dynamic simulations.

In this paper, a master-slave control system is proposed and implemented for the lower limb rehabilitation robot with pedal-actuated exoskeleton aim of coordinating motion wheelchair. The designed to let users walk around exercise simultaneously. Particularly, master started by intend slave activated along legs results experiments show method can help their simultaneously effectively.

This paper proposes a vertical jump optimization strategy for one-legged robot with consideration of its variable reduction ratio joints. Firstly, the characteristic joint is derived to obtain influence on motion, which similar ratio. Secondly, referring joint's characteristic, initial posture jumping optimized maximize acceleration jumping. Then, generate trajectory center mass (CoM) and make motion more efficient, nonlinear CoM adopted respect human data. Full-body dynamics considered...

Fast and stable walking is one of the important prerequisite for humanoid robots to serve people. Pelvic rotations play a significant role when walks fast. This paper proposes method generate human-like patterns with pelvic rotation in transverse plane robot effectively improve its quickness stability. First, regularities during human are studied. Second, mechanism design waist presented. Then, trajectory planning stability margin proposed. Finally, effectiveness demonstrated through...

Large Language Models (LLMs) have demonstrated great potential as generalist assistants, showcasing powerful task understanding and problem-solving capabilities. To deploy LLMs AI it is crucial that these models exhibit desirable behavioral traits, such non-toxicity resilience against jailbreak attempts. Current methods for detoxification or preventing jailbreaking usually involve Supervised Fine-Tuning (SFT) Reinforcement Learning from Human Feedback (RLHF), which requires finetuning...

Pedestrian detection and tracking in crowded video sequences have a wide range of applications, including autonomous driving, robot navigation pedestrian flow surveillance. However, detecting pedestrians high-density crowds face many challenges, intra-class occlusions, complex motions, diverse poses. Although deep learning models achieved remarkable progress head detection, datasets methods are extremely lacking. Existing limited coverage flows scenes (e.g., interactions, object...

Having human-like legged structure, biped robots are regarded as the most promising that can take place of human to work in environments designed for beings. To this end, it is premise achieve stable walking on uneven ground. This paper presents a control strategy robot based spring-loaded inverted pendulum (SLIP) model, which controls joint torque by obtaining errors length and angular position virtual spring legs. Additionally, proposes new method adjusting legs enable unstructured...

Motion of humanoid robots in human environments is subject to various unknown disturbances. Standing and walking such environments, especially under external disturbances, has always been a problem. We hope achieve full-body compliance control for pushing recovery position controlled So, we propose controller standing maintenance based on virtual model control. The uses the concept impedance admittance An AMPM (Angular Momentum inducing inverted Pendulum Model)-based with variable gain...

In this paper, a design and construction of cycling-based wheelchair prototype with leg-exoskeletons are proposed product considerations for persons who have lower limb problems. For the conceptual mechanical design, an exoskeleton linkage attached to is designed carefully comfortable users. Particularly, functional flowchart control enable help users move around exercise simultaneously. addition, two prototypes built in years 2015 2017 shown compared describe characteristics solutions. At...

Humanoid robot's stable walking and crawling movement patterns can help them adapt to a relatively flat road, but these are difficult deal with conditions such as ditches platforms. Adding jumping motion the robot greatly enhance ability environment. This paper explores forward of humanoid robot. A simplified three-link model in sagittal plane is established process decomposed into three phases: take-off phase, flight landing phase. The mathematical for each phase developed. In whole...

Patients with lower limb disabilities have caused a great burden both to society and themselves. The combination of wheelchair cycling achieves locomotion rehabilitation training at the same time, which meets their needs. This paper presents new multifunctional electric module based on our previous research. We remove exoskeleton replace it leg structure user form crank-rocker mechanism. can now be adjusted forward backward or hidden under completely. also force sensors software detect...

To resemble the appearance of human beings, humanoid robots should be designed with many DOFs, however, it increases complexity mechanical design and real-time control, which will make a high cost have poor reliability not fit for application in museums or human's daily lives. In this paper, to enable low robot interact humans naturally sever more friendly, we imported advanced technology Waseda's flute retained most important parts, such as lip, lungs fingers playing, on basis, some other...

Wheel-based robots and leg-based are two major types of ground mobile robots. It is well known that their performance properties complementary. With the combination two, several wheel-legged humanoid (WLR) proposed to overcome obstacles on broken pavement move at high speed flat pavement. However, WLR’s high-speed performance, particularly, during acceleration phase still not good enough compared with traditional wheeled To be detailed, WLR always response slowly get large velocity tracking...

The development of advanced semiconductor packaging is focused on achieving high-density integration, superior performance, efficient thermal management, high reliability, ease mass production, and low cost. This paper presents an innovative panel-level multi-chip embedded integration technology. It enables the establishment electrical connections for single or doublesided I/O multiple chips based design requirements modules, resulting in system-level functionality. In terms product...