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This paper is presenting a unified control frame to regulate possible undesired motions, which may occur throughout a bipedal walking motion. The proposed frame is based on the combination of orientation control, ZMP control and upper body motion regulation to be able to cope with distinct restriction factors and maintain dynamic balance in a feasible way. It can be plugged into one mass model based...
This paper is aimed at presenting a method to generate real-time jogging and jumping trajectories that can be applied to bipedal humanoid robots. The proposed method is based on ensuring the dynamic balance in a feasible way. For this purpose, we utilized the ZMP stability criterion and projectile motion throughout support and flight phases, respectively. In order to achieve dynamically equilibrated...
One-leg jumping of a biped robot with virtual spring principle is proposed and experimentally implemented. A biped robot is modeled and controlled as a simple mass-spring system, and its trajectories for jumping and landing are consequently planned as the mass-spring system. The jumping condition and necessary constraint conditions are deduced. Finally one-leg jumping of 130[ms] flight time is achieved...
As a recent trend in humanoid robot research, running motion appears to be a very important issue since faster and faster mobility is required. Being an essential fact, jumping phenomenon seems to be the previous step of succeeding running motion as jumping dynamics play the key role to achieve stable running motion cycles. Therefore, in this paper, authors group sought a method to generate real-time...
A definition of the visual walking proposed by authors is that the robot autonomously walks by making decision based on the image feature motion. One of the achievements is "visual tracking walk". In the past conference, authors proposed a hybrid control for "visual walking". In this paper, the four vertexes of a square surrounding the red target in the image plane are selected...
In recent years, various control methodologies are reported in the field of biped fast mobility. Most of these reports have focused on the whole body motion generation and overall stability. While considering aforementioned issues, running motion appears to be a very important movement, as it is the combination of fast walking and jumping cycles. Therefore, in this paper, we proposed a control method...
In this paper, under the condition of acceleration continuance, the effect of double support phase in bipedal walking is investigated, and a new design approach for bipedal waking pattern based on the synchronization of the motions in sagittal and lateral planes is developed. The analysis of the motions both in the sagittal and lateral planes reveals that the motions in these two planes are tightly...
In this paper, a new considering approach for frictional constraint is proposed. It is pointed out that the conventional method only considering translational friction is not appropriate for biped walking, and the frictional rotation constraint should be taken into account. It is stressed that the translational motion and rotational motion will occur simultaneously when slip starts in biped walking,...
A definition of the visual walking proposed by authors is that the robot autonomously walks by making decision based on the image feature motion. One of the achievements is "visual tracking walk". In the past conference, authors proposed a hybrid control for "visual walking", in which a biped walking robot with a CCD camera mounted on the head follows a red target. Authors used...
In this paper, characteristics of dynamic biped walking is discussed. With ZMP (zero moment point) concept, frictional constraint, and inverted pendulum model, stable biped walking condition is given out. With this, biped walking is separated into initial acceleration, double support, deceleration, and acceleration phases; consequently, the nature that biped walking is in fact a continuous acceleration...
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