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In this paper, we present a new control strategy for the Bipedal Trunk Spring Loaded Inverted Pendulum (BTSLIP) model, consisting of springy legs and rigid trunk. Our walking controller is inspired from the Virtual Pendulum (VP) concept. In this concept, by intersecting the ground reaction forces (GRF) to a virtual pivot point (VPP), the trunk is provided the restoring moment to keep its balance and...
Stability is a key point in developing quadruped robot. In this paper, we focus on allowing heavy quadruped robot to be self-adaptive to various disturbances. The Spring Loaded Inverted Pendulum method is applied in regulating feet landing positions. Moreover, yaw motion is discussed to revise direction-deflection after disturbance of external force. In dynamics analysis, both inverse dynamics and...
Humanoid robots are considered to be ideal partner in future life for human beings, thus have great application prospects and attracted much attention. Bionics can bring researchers inspirations and lead to great achievements, for example, bipedal walking and dual-arm coordination have been made by bionics. Spine plays an important role in human body motion with unique structure and brilliant properties,...
Human body Center of Mass (CoM) and Center of Pressure (CoP) kinematics are related to stability and balance control. However their evaluation can only be performed in motion analysis lab using different techniques. One of the more accurate is based on the segmental method, in which the body is modelled as a set of rigid bodies, each of which has different mass properties. In this study, we proposed...
In this paper, we propose a new kind of tripedal locomotion—namely, robotic walking with three legs. We develop a prototype robot, which we call Martian III, having three stretchable legs fixed to each other at the center of the body. Therefore the coxa (the hip joint) is completely fixed in this robot, and the only control we have are the linear actuators to stretch the three legs in the radial directions...
In our previous work, we introduced a new gait for humanoid robots called Ski-Type walking to improve stability performance for rough terrain walking. By the arms holding two canes to assist walking, the humanoid robot benefits from enlarged stability margin. With canes and feet touching the ground, a closed-chain system is formed where force/torque distribution among the canes and feet is not unique...
In this paper, we present a novel control strategy for running of bipedal robots with compliant legs. To achieve this goal and to take advantage of the characteristics of the template, we match the dynamics of the full multibody model of a real biped robot with the dynamics of a well-known running template called spring loaded inverted pendulum (SLIP) model. This can be viewed as a template and anchor...
Locomotion in general and legged locomotion in particular has stirred a great deal of interest in the last few years. In this paper, we focus on the energetic aspect of a bipedal robot with a torso walking on level ground.
A falling avoidance of biped robots is an important research topic to use the robot in a human life environment. In this paper, we propose a machine learning approach to falling detection and avoidacne for biped robots. Support Vector Machine (SVM) is used as the machine learning algorithm and it detects the falling state of the robot based on acceleration value of torso and center of pressure value...
An important topic in robotics is the design of a robot body using passive mechanical properties, such as viscoelasticity, to obtain energy-efficient locomotion at low computational costs. To achieve this aim, this study examines adopting a spinal structure with variable viscoelasticity and multiple joints. In order to investigate the effect of this spinal structure, a physical model of the spinal...
We studied a relationship between a zero moment point (ZMP) and a base of support (BOS) during slipping. ZMP is the point on the ground where no moment may be transmitted about the whole body center of mass (COM). When subjects could walk without slipping, ZMP was located within the BOS at a single support phase. When a fall after a forward slip was observed, the ZMP remained outside of the BOS edge...
This paper explores systematic control strategies for the stabilization of running on compliant robots with nontrivial torso pitch dynamics. The Spring Loaded Inverted Pendulum (SLIP) embedding controller is revisited and its pertinence to more general legged robot models is investigated. It is first deduced that - in the context of an asymmetric hopper - the existence of a SLIP embedding control...
This paper presents a novel robust framework for online walking control that uses the estimated actual posture of a robot for frequent pattern generation. The motion status in the absolute coordinate system is estimated by using an attitude sensor, and the estimated status is used as the initial condition of the next online pattern generation, so that the walking pattern generator can effectively...
This paper describes the control of an autonomous biped robot capable to be subjected to external forces applied in the sagittal plane. A 1st order Takagi-Sugeno-Kang (TSK) type neuro fuzzy net, that was trained based on experimental and simulation data, is used. This net uses the zero moment point (ZMP) position and its variation as inputs, and the sagittal correction of the robot's body is obtained...
Many pieces of research have been done on biped robots so far. ASIMO, HRP2, QRIO and so on have been developed. The concern for them has generally become strong. Many biped robots have used the conventional control method based ZMP (zero moment point). A well-designed biped robot has its own natural dynamics suitable for efficient walking. Walking which makes good use of natural dynamics is not using...
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