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In the problem of humanoid robot stepping over dynamic obstacle in the sagittal plane, the duration, the length of the step, and the maximum step height of the biped robot are key factors which influence successful obstacle avoidance. In this paper, an approach of footstep planning for biped robot has been presented. Fuzzy Q-Learning algorithm has been developed to learn these crucial parameters....
For stable gait generation on the level floor, restoring mechanical energy lost by heel-strike collision at the ground is necessary. Parametric excitation principle is one of the solutions. Harata et al. applied this principle to a knee actuated robot to achieve parametric excitation by bending and extending the knee, and succeeded in generating a sustainable biped gait by computer simulation. Although...
The parametric excitation based gait generation method proposed by Asano et al. restores mechanical energy lost by heel-strike collisions. Harata et. al. applied this method to a kneed biped robot which is proper for the parametric excitation, and show that sustainable gait has been generated with only knee torque. A swing-leg of a kneed biped robot has similar mechanism to an acrobot, and many acrobots...
Humans utilize the configuration with extended knees to achieve efficient walk. A humanoid robot, however, cannot do so, since this posture is a singular configuration. In order to tackle this problem, in our previous work, a walking pattern generator based on the spherical inverted pendulum model has been proposed. It enables to generate up-and-down waist motions and utilizes the singularity neighborhood...
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