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Heel-toe walking can increase the stride length within the same joint limit of the robot. This paper proposes a method to compute the foot angle for heel-toe walking. In heel-toe walking, the value of the foot angle influences the movement of the legs, so it is proposed to select the foot angle to minimize the movement of the legs. The changes in stride and movement of leg with or without the heel-toe...
This paper presents a method of designing a natural human-like walking pattern for a bipedal humanoid robot. Motivated by biomechanical studies on human walking, we model the walking pattern with continuous and differentiable mathematical functions. For stable walking of the robot, we design a pattern generator based on the ZMP (Zero-Moment Point) criterion. The proposed walking pattern involves three-dimensional...
Many walking pattern generators for humanoid robots require predefined trajectories for the robot to track. This inflexibility limits the range of real-world environments that the robot can navigate through. For environments with obstacles and inconsistent terrain, the ability to change the walking trajectory becomes valuable. Using a miniature humanoid, a three-dimensional inverted pendulum model...
In order to interact with human environments, humanoid robots require safe and compliant control which can be achieved through force-controlled joints. In this paper, full body step recovery control for robots with force-controlled joints is achieved by adding model-based feed-forward controls. Push Recovery Model Predictive Control (PR-MPC) is presented as a method for generating full-body step recovery...
This paper presents a cooperative control algorithm for a paraplegic patient to walk stably as requested. The algorithm generates stable motions of a lower limb for a paraplegic walk, receiving patient's preference related to his/her movement such as stand-to-sit and sit-to-stand transfers, walking and going up and down stairs. An exoskeletal walking support system assists motions of patient's lower...
Typically most humanoid robots walk with relatively small strides even on the level ground, and consequently their walking speed is fairly slow compared to humans. One reason is that the constraint of the constant COM (Center of Mass) height, which is for decoupling the frontal and lateral motion, produces the characteristic bent knee feature of walking robots and requires higher motor torques. The...
A new method of gait optimization for a humanoid robot climbing stairs based on multi-objective Genetic algorithm(GA) was proposed in this paper. Based on the humanoid robot model and the staircase model, the complicated process of climbing stairs was parameterized, and a climbing stairs mode was built. A math function, which takes the stability judgment based on zero moment point (ZMP) and energy...
This paper proposes a new method of trajectory planning for biped robots walking on flat terrain. In this approach, the hip and foot trajectories are designed in Cartesian space using polynomial interpolation. The key parameters which define the hip and foot trajectories are searched by genetic algorithm. The objective is to obtain stable walking trajectory with minimized joint-torques requirement...
A non-time reference gait planning method is proposed. The usual reference variable, time, is substituted by a non-time variable in gait, so the whole gait-planning phase can be divided into two phases, (1) planning the space walking path: Taking the forward locomotion of upper-body as reference variable, considering the constraint of the environment, the walking path of a robot without collision...
Multiple strategies for standing balance have been observed in humans, including using the ankles to apply torque to the ground, using the hips and/or arms to generate horizontal ground forces, and using the knees and hips to squat. This paper shows that multiple strategies can arise from the same optimization criterion. It is likely that humanoid robots will exhibit the same balance strategies as...
This paper proposes a new method of trajectory planning for biped robots walking on level ground. In this approach, the hip and foot trajectories are designed in Cartesian space using polynomial interpolation. The key parameters which define the trajectories are searched by genetic algorithm. The objective is to obtain the best trajectory that has large stability margin and low energy consumption...
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