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In this paper, a “virtual slope method” for walking trajectory planning on stairs for biped robots is proposed. In conventional methods for walking on stairs, there are two problems about the zero-moment point (ZMP). One is a ZMP equation problem, and the other is a ZMP definition problem in a double-support phase. First, a ZMP equation on stairs is different from that on flat ground. Therefore, the...
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,...
Control of the biped robots requires appropriate gait planning that satisfies stable walking. In this paper, first a desired trajectory for the lower body will be designed by fitting proper polynomials at appropriate break points, which alleviates the impacts due to contact with the ground. Then, the upper body motion is planned based on the zero moment point (ZMP) criterion to provide a stable motion...
Biped robots have higher capabilities than other mobile robots, for moving on uneven environments. However, due to natural instability of these robots, their motion planning and control become a more important and challenging task. This article, will present a Cartesian approach for gate planning and control of biped robots without needing to use the joint space trajectories and the inverse kinematics...
Designing smooth and stable trajectories for control of the biped robots is a challenging problem that is the focus of this article. A desired trajectory for the lower body will be designed to alleviate the impacts due to contact with the ground. This is obtained by fitting proper polynomials at appropriate break points. Then, planning the upper body motion is accomplished based on the zero moment...
This paper presents a system of central pattern generators (CPGs) made of a network of mutually coupled Matsuoka nonlinear neural oscillators. The CPG based controller is used to generate human like rhythmic motion for biped robots. The new design has been investigated through interaction between the dynamics of the coupled CPGs and the dynamics of a five-link musculoskeletal robot model with six...
Control of biped robots based on designated smooth and stable trajectories is a challenging problem that is the focus of this article. A desired trajectory for the lower body will be designed to alleviate the impacts due to contact with the ground. Then, the upper body motion is planned based on the Zero Moment Point (ZMP) criterion to provide a stable motion for the biped robot. Next, dynamics equations...
This paper proposes a design method of biped locomotion controller based on ANFISs (adaptive neuro-fuzzy inference systems). In which, there is an ANFIS assigned as the system identifier to determine the model of a biped robot firstly. And then the motion controller, which is a combination of ten ANFISs, aims to perform the biped locomotion controls. One can adopt the moving velocities of biped robot,...
Many control methods have been studied on the assumption that the feet of biped robots contact the ground with four points. However, it is difficult for almost all of such biped robots to maintain four-point contact on uneven terrains because they have rigid and flat soles. In order to solve the problem, foot mechanisms should be studied. In 2003, we developed WS-1R (Waseda Shoes - No.1 Refined) which...
In walking motion of biped robots, Zero Moment Point (ZMP) is treated as important. ZMP is a stability index and keeping ZMP in the stable region is important for biped robots to walk. In this paper, foot pressure control based on extraction of environment mode is proposed as a ZMP stabilizing control. Environment mode is representation of connection between the robot and the environment. In this...
This paper addresses the role of toe joints in increasing the walking speed of biped robots. It is worthy that adding a toe joint will increase the step length thanks to the additional degree of freedom. But, the originality of this work is that longer steps are obtained thanks to an under-actuated phase and an appropriate ZMP trajectory. The simulations showed that adding passive toe joints allows...
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