Gait
Related papers: 20
About
Gait refers to the pattern of limb movements and body motion that an animal or robot uses to locomote, encompassing the timing, coordination, and mechanics of each step cycle. In robotics and AI, gait research spans a wide spectrum: from designing legged robots—hexapods, quadrupeds, and bipeds—that walk, trot, or run efficiently, to developing rehabilitation exoskeletons that restore or retrain walking in patients with stroke, spinal cord injury, or neurological disorders. Engineers study passive dynamics, model predictive control, and reinforcement learning to generate stable, energy-efficient gaits, while clinicians deploy robotic orthoses like the Lokomat and LOPES to deliver consistent, measurable therapy. Gait analysis using IMUs and motion capture provides quantitative feedback for both robot control and patient assessment. Understanding and replicating gait matters because locomotion is fundamental to robot autonomy in unstructured environments, and restoring walking ability profoundly improves quality of life for millions of people living with mobility impairments.
Top Researchers
Top Cited Papers
RHex: A Simple and Highly Mobile Hexapod Robot
Uluc̣ Saranlı, M. Buehler, Daniel E. Koditschek
Citations: 1312 • 2001
Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation
Jan F. Veneman, R. Kruidhof, Edsko E.G. Hekman, R. Ekkelenkamp, Edwin van Asseldonk, Herman van der Kooij
Citations: 1266 • 2007
From Swimming to Walking with a Salamander Robot Driven by a Spinal Cord Model
Auke Jan Ijspeert, Alessandro Crespi, Dimitri Ryczko, Jean‐Marie Cabelguen
Citations: 1195 • 2007
Treadmill training of paraplegic patients using a robotic orthosis.
Giorgio Colombo, M Joerg, Reinhard Schreier, V Dietz
Citations: 1117 • 2001
Control strategies for active lower extremity prosthetics and orthotics: a review
Michael R. Tucker, Jérémy Olivier, Anna Pagel, Hannes Bleuler, Mohamed Bouri, Olivier Lambercy, José del R. Millán, Robert Riener, Heike Vallery, Roger Gassert
Citations: 1053 • 2015
Reducing the energy cost of human walking using an unpowered exoskeleton
Steven H. Collins, M. Bruce Wiggin, Gregory S. Sawicki
Citations: 1021 • 2015
IMU-Based Joint Angle Measurement for Gait Analysis
Thomas Seel, Jörg Raisch, Thomas Schauer
Citations: 856 • 2014
A Three-Dimensional Passive-Dynamic Walking Robot with Two Legs and Knees
Steven H. Collins, Martijn Wisse, Andy Ruina
Citations: 784 • 2001
Robot Assisted Gait Training With Active Leg Exoskeleton (ALEX)
Sai K. Banala, Seok Hun Kim, Sunil K. Agrawal, John P. Scholz
Citations: 739 • 2008
Learning robust perceptive locomotion for quadrupedal robots in the wild
Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter
Citations: 729 • 2022
Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control
Jared Di Carlo, Patrick M. Wensing, Benjamin Katz, Gerardo Bledt, Sangbae Kim
Citations: 717 • 2018
MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot
Gerardo Bledt, Matthew J. Powell, Benjamin Katz, Jared Di Carlo, Patrick M. Wensing, Sangbae Kim
Citations: 709 • 2018
Multicenter Randomized Clinical Trial Evaluating the Effectiveness of the Lokomat in Subacute Stroke
Joseph Hidler, Diane Nichols, Marlena Pelliccio, Kathy Brady, Donielle D. Campbell, Jennifer H. Kahn, T. George Hornby
Citations: 659 • 2008
Policy gradient reinforcement learning for fast quadrupedal locomotion
Nate Kohl, Peter Stone
Citations: 585 • 2004
Rehabilitation of gait after stroke: a review towards a top-down approach
Juan Manuel Belda Lois, Silvia Mena-del Horno, Ignacio Bermejo-Bosch, Juan C. Moreno, José L. Pons, Dario Farina, Marco Iosa, Marco Molinari, Federica Tamburella, Ander Ramos, Andrea Carìa, Teodoro Solis‐Escalante, Clemens Brunner, Massimiliano Rea
Citations: 580 • 2011
The six determinants of gait and the inverted pendulum analogy: A dynamic walking perspective
Arthur D. Kuo
Citations: 567 • 2007
Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point
Ambarish Goswami
Citations: 567 • 1999
Electromechanical-assisted training for walking after stroke
Jan Mehrholz, Simone Thomas, Joachim Kügler, Marcus Pohl, Bernhard Elsner
Citations: 566 • 2017
A Study of the Passive Gait of a Compass-Like Biped Robot
Ambarish Goswami, Benoît Thuilot, Bernard Espiau
Citations: 548 • 1998
Enhanced Gait-Related Improvements After Therapist- Versus Robotic-Assisted Locomotor Training in Subjects With Chronic Stroke
T. George Hornby, Donielle D. Campbell, Jennifer H. Kahn, Tobey DeMott, Jennifer L. Moore, Heidi Roth
Citations: 541 • 2008