The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The performance of a soccer robot is highly dependent on its motion ability. The kicking motion is one of the most important motions in a soccer game. However, automatic, full body motion generation for humanoid robots presents a formidable computational challenge. At the current state the most common approaches of implementing this motion are based on key frame technique. Such solutions are inflexible,...
This paper describes adapting motion of a biped robot. In some cases that biped robots walk in human environment, the robots encounter non-flat surfaces. To adapt to such environment, it is necessary to get environmental information by sensors. In this paper, the environmental information is transformed into useful structure, defined as ??environmental modes??. The environmental modes consist of four...
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...
This paper presents a novel robust framework for online walking control that uses the estimated actual posture of a robot for frequent pattern generation. The motion status in the absolute coordinate system is estimated by using an attitude sensor, and the estimated status is used as the initial condition of the next online pattern generation, so that the walking pattern generator can effectively...
This paper describes an approach of motion stabilization for biped robots with flexible ankle joints. The flexible joints cause the resonant oscillation under conventional control. In our approach, the deviated center of gravity (COG) due to the ankle's deflections is measured in real-time by laser distance sensor mounted on the hip. Assuming the two mass model at COG, the equivalent reaction force...
This paper introduces the effectiveness of the body motion for the pace gait of vertical ladder climbing. The pace gait is a symmetrical motion of left side and right side to climb the ladder. As a previous work, we realized the vertical ladder climbing motion; however, it is not stable since the external disturbance is not considered. We add a body motion as an improvement. The external disturbance...
In this paper, a bipedal locomotion planning based on virtual linear inverted pendulum mode (VLIPM) is proposed. In conventional methods, the desired center of gravity (COG) position and velocity are achieved by modifying the foot placement. In this research, the desired COG position and velocity are achieved while the desired foot placement is also realized. In the proposed method, the virtual modified...
Stability fulfilment for biped robots is drastically essential. Thus, to predict and maintain a dynamic stable status of biped robots defining an accurate stability measure is required which can represent dynamic equilibrium condition. Several postural stability metrics have been proposed so far. In this article, the Moment-Height stability (MHS) measure which has been previously proposed for wheeled...
This paper addresses sensor feedback control methods that are used with short cycle walking pattern generation and realize walking on uneven terrains which are not modelled in advance. We have proposed an online walking control system that generates a dynamically stable motion pattern in short cycles, such as 20 [ms]. The system is capable of reflecting the actual motion status which is modified from...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.