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This paper proposes a slope-walking strategy of a bipedal robot using position and orientation based inverse kinematics method. Some researchers implemented control approaches to solve this problem. Generally, they apply control feedback at ankle joints and introduced many more control methodologies. Several researchers used pelvis and foot trajectories without showing center of mass trajectory. In...
The bipedal robot has a better mobility than the wheel based robot but, its structure is not stable basically. In various environments, it's necessary that the center of the gravity moves properly to get flexible and efficient walking pattern for the walking stability. In this paper, walking trajectory function consistent with constrain in each joint is realized to generate flexible walking pattern...
Researchers introduced a constant center of mass walking, mainly to solve the ZMP equations analytically for center of mass trajectories in the x and y directions (case 1). In this paper, case 2 proposes that if pelvis is made constant instead, energy usage could be reduced particularly at the leg joints. CoM-based kinematics methods are used to realize each case. Walking simulations of 0.22km/h are...
Energy-efficient reference gait generation algorithm is suggested utilizing variable ZMP (Zero Moment Point) and vertical hip motion, which maxmizes the energy efficiency for cyclic gaits, based on inverted pendulum model (IPM) for biped robots. As observed in natural human walking, the robot's vertical hip motion (with average height and amplitude of hip ripple) as well as allowing variable ZMP pattern,...
In this research, multivariable PID control was implemented on YICAL Leg II for self-supporting bipedal locomotion. The legged robot is properly scaled to a human being. It has six DOF which is direct-driven by DC motors. The motion was limited on the sagittal plane. The sensor system of the robot is comprised of precision potentiometers for joint angle feedback and an IMU for attitude estimation...
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