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The aim of this research is to find an actuated level ground walking method, which is analogous to the dynamics of a passive dynamic walker on a slope. We propose to take advantage of the coupled elastic to actuate legs. As a result, maintaining the character of passive dynamic and a simple control algorithm are achieved simultaneously. In our walking model, actuated bars are installed on each leg...
In this paper, an optimized central pattern generator (CPG) network is proposed for humanoid walking control. The CPG controller targets three joints (hip, knee and ankle) of each leg including 4 degrees of freedom (DOFs). The connections for CPG units of related joints are simplified and optimized hierarchically. The total number of CPG parameters is greatly decreased in this way. Moreover, the genetic...
In recent years, there has been an increasing interest in the development of variable stiffness actuators (VSAs) for legged robots. In this paper, we explore how VSAs can be used in legged robots to achieve energy efficient locomotion on compliant surfaces at various stride frequencies. Our legged robot is consisted of an actuated hip joint and a passive knee joint equipped with a VSA, named L-MESTRAN...
Humanoid robots progress everyday closer and closer to a more stable walking suitable for a human environment as the researchers in the Humanoid robotics field focus their effort on the understanding of the human locomotion. Nonetheless for Social Robotics researchers, humanoid robots might have another use, such as being our companions from birth to nursing home. Designing social humanoid robots...
Biomimetic robots such as biped, quadruped, hexapod and fish robots become the research hot of robotics in recent decades. Hexapod robots can adapt to the rugged ground and complex environment, which are usually difficult for wheeled and tracked robots. Controlling the locomotion of biomimetic robots by central pattern generators (CPGs) is a new method developed recently. In this paper, we apply the...
Locomotion on rough terrain is a critical and basic capability for quadruped robots. In this paper, we present a gait planning approach of crossing planar obstacles for a quadruped robot. The system is composed by rhythmic motion generation and gait planning algorithm. Rhythmic motion generation is mainly composed of two parts: the Central Pattern Generator (CPG) model based on the Holf oscillator...
This paper presents a comprehensive navigation system to assist the visually impaired in safely walking in their living areas. The system can provide the visually impaired vibrotactile hints of navigation and free directions during outdoor walking. The cluttered environmental information is acquired by Kinect cameras and ultrasonic sensors in real time. All the direction and obstacle avoidance instructions...
Legged systems theoretically offer the potential to better traverse rugged terrains than traditional wheeled and tracked designs due to no need for paths of continuous contact with the ground, and therefore have been given great concern. In this paper, a geometric feature-based footholds identification system for a small six-legged robot HITCR-II was presented. For this algorithm, a novel local terrain...
This paper presents a study using multiple robots with different socially interactive functionalities in a hotel public space. We analyzed the human attitude toward different styles of interactions with robots, and assessed the use of those robots. We conducted comparative experiments in different settings: (i) Two single robots, Palro and Nao, were used separately to detect the presence of guests...
In this paper, we proposed a simple algorithm for controlling humanoid walking. We take the body as control target and the legs as control tool. The passive dynamic of robot is used as much as possible, and the legs will execute necessary actions for adjusting body states through sensors' feedback. The hip actuators are used to avoid body from falling down including position and orientation which...
The basilisk lizard's function of running on water is used to analyse the dynamical mechanism of the biped robot which has the same function. The movement trajectories of the a Watt-I six-bar linkage are brought out by combining the movement equations of the four bar mechanism and the coordinate transformation equations, which are used to simulate the foot trajectories of the basilisk lizard, and...
This paper proposed a biologically inpired handrail climbing robot "MonkeyBot" that could provide inspection and maintenance for the space station. Space debris is the biggest hazards for space station from the outer space. When a threat from orbital derbis is idenfitied a bit late, the station will be potentially damaged by the debris. MomkeyBot is designed to meet this challenge, especially...
Biological research has concluded that the actuation of the spine contributes significantly to the performance of quadrupeds in terms of controlling body posture, and integrating limbs and trunk actions. Inspired by this biological findings, we develop a pneumatically-driven quadruped robot called Renny with configurable spine morphology to study how the spine contributes to cheetah-like running....
Legged robots are intrinsically nonlinear hybrid dynamic systems due to the intermittent contact of the feet with the ground. For optimal performance, in the sense of maximizing speed or energy consumption, different motion control affects the stance from the swing leg during a stride. Designing such controllers, however, can be a daunting task when there is a lack of knowledge about the exact operating...
In contrast to the high movement adaptability of quadruped animals in many environmental conditions, it is hard for conventional quadruped robots to operate in complex environment conditions. We investigate the adaptability of animals' musculo-skeletal systems, by building a bio-inspired quadruped robot named ”Pneupard” which duplicates a feline musculo-skeletal system. In this study, we built Pneupard's...
Although robotic locomotion have greatly advanced over the past years, the abyss that separates such locomotion from even the simplest animal locomotions prompt us to approach robotic locomotion taking cues from animals. The animal musculoskeletal structure, often ignored by roboticists due to its high redundancy and complexity, might hold the secret for self-stable locomotion observed in bipeds and...
Though balancing is a fundamental part of human walking, it has been a challenging topic for bipedal robot. Compared to the versatile strategies of handling disturbances of human, current bipedal robots possess limited skills of managing external disturbances. Among them the capabilities of push recovery and maintaining balance are obviously of prior importance for a bipedal robot to walk in an unknown...
This paper design of a state-action map for an omni-directional mobile walking support robot. The robot realizes the omni-directional movement through a differential drive control mode. The moving direction of the robot is according to the intention of the elderly. We define a state-action map to improve the control efficiency. We defined state space, action space and state transition matrix of the...
In this paper, the current roboticized technologies and intelligent technologies applied in electric vehicles have been discussed. Vehicle structure design and motion control such as anti-slid, four wheel steering methods are analyzed. Besides, the driving strategy, vehicle monitoring and human-machine interaction are reviewed in details. Particularly, a new design of vehicle structure with detachable...
A compliant spine of one-piece elastic material is designed to replace the rigid trunk of a quadruped robot to improve motion coordination among the four legs and postural stability of the trunk. Based on deformation mechanism of elastic material and discretized pseudo rigid body, the shape and dimensions of the compliant spine are designed, and the stress-strain distributions of three different spines...
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