Locomotion pattern generation and mechanisms of a new biped walking machine by Hun-ok Lim, Y Ogura, and Atsuo Takanishi Proceedings A Volume 464(2089):273-288.

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Locomotion pattern generation and mechanisms of a new biped walking machine by Hun-ok Lim, Y Ogura, and Atsuo Takanishi Proceedings A Volume 464(2089): January 8, 2008 ©2008 by The Royal Society

Motion of a human pelvis and knee during steady walking. Hun-ok Lim et al. Proc. R. Soc. A 2008;464: ©2008 by The Royal Society

Structure of a human pelvis. Hun-ok Lim et al. Proc. R. Soc. A 2008;464: ©2008 by The Royal Society

WABIAN-2LL mechanism: (a) d.f. configuration and (b) photograph. Hun-ok Lim et al. Proc. R. Soc. A 2008;464: ©2008 by The Royal Society

Coordinate frames and parameters. Hun-ok Lim et al. Proc. R. Soc. A 2008;464: ©2008 by The Royal Society

Knee-stretched walking pattern generation. Hun-ok Lim et al. Proc. R. Soc. A 2008;464: ©2008 by The Royal Society

Stick diagrams of biped walking: (a) knee-bended walking with a constant height of the waist, (b) knee-stretched walking with the heel and toe contact at the same time and (c) knee-stretched walking with the heel contact and the toe lift. Hun-ok Lim et al. Proc. R. Soc. A 2008;464: ©2008 by The Royal Society

Simulation results: (a) knee joint pattern in knee-bended walking with a constant height of the waist, (b) knee joint pattern in knee-stretched walking with the heel and toe contact at the same time and (c) knee joint pattern in knee-stretched walking with... Hun-ok Lim et al. Proc. R. Soc. A 2008;464: ©2008 by The Royal Society

Simulation results: (a) waist roll pattern in knee-bended walking with a constant height of the waist, (b) waist roll pattern in knee-stretched walking with the heel and toe contact at the same time, (c) waist roll pattern in knee-stretched walking with the... Hun-ok Lim et al. Proc. R. Soc. A 2008;464: ©2008 by The Royal Society

Experimental results: (a) Y-ZMP in knee-bended and knee-stretched walking, (b) right knee angle in knee-stretched walking, (c) left knee angle in knee-stretched walking and (d) waist roll angle in knee-stretched walking. Hun-ok Lim et al. Proc. R. Soc. A 2008;464: ©2008 by The Royal Society

Currents of the knee joint in stretched and bended walking. Hun-ok Lim et al. Proc. R. Soc. A 2008;464: ©2008 by The Royal Society