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This paper deals with proposing a computationally efficient solution for the inverse dynamics problem of biped robots. To this end, the procedure of developing a closed-form dynamic model using D’Alembert’s-based virtual work principle (VWP) for a biped robot is described. Then, a closed-form inverse dynamics solution is developed during different phases of walking. For a given motion, the closed-form...
Ability of quadruped robots for adjusting posture for crossing natural obstacles is an important issue. These robots should change their footholds to avoid any obstacles. In this paper, a gait planning algorithm based on Cartesian CPG-based controller for a quadruped robot in order to cross different planar obstacles will be developed. In proposed approach, the rhythmic patterns in central pattern...
Due to redundancy and natural instability of humanoid robots, their motion planning becomes a challenging task. Designing stable gaits with smooth trajectories for a humanoid robot is the main goal of this article. Taking all related parameters on robot's walking into consideration, a new gait planning approach in the task space is developed. Various aspects like upper-body motion and stability requirements...
Model-based Control of a quadruped robot based on designed stable gaits is the focus of this paper. To this end, first explicit dynamics equations are obtained. Next, stable gait planning of the robot is investigated such that the robot can walk with a given speed over the terrain. Finally, the Sliding Mode Control (SMC) approach is applied, and a new chattering elimination method is proposed by adding...
In this paper, dynamics and gait planning of a quadruped robot is discussed. To this end, using Lagrangian method the equations of motion are first derived. Then, an approach is proposed to eliminate the terms corresponding to the constraints caused by the feet on the ground. The obtained dynamics model is validated using Matlab SimMechanics. Finally, gait planning of the robot is developed such that...
Control of the humanoid robots requires appropriate gait planning that satisfies stable walking. In this study, a Modified Transpose Jacobian (MTJ) control algorithm for object manipulation by two humanoid robots is developed. Such cooperative humanoid robots may typically get employed in hazardous situation and industrial applications. In the present paper, a high performance and robust controller...
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