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Applying humanoid robots in disaster sites requires strong locomotion abilities due to the cluttered and unstructured environment. Besides bipedal walking, it is beneficial to provide functionality to locomote on four limbs, and to control the transitions between bipedal and quadrupedal locomotion. In this paper, we propose a planning algorithm for bipedal and quadrupedal locomotion with intermediate...
This paper deals with an optimal ZMP based pattern generator for stable dynamic walking. The proposed method is based on a Three-Mass Linear Inverted Pendulum Model (3MLIPM), used as a simplified dynamics of the biped robot. The 3MLIPM simplifies the biped robot as a three point masses and two-link system. A ZMP based criterion is then used in an optimization problem whose solution gives the best...
This paper describes a foot with an active joint. Based on the humanoid robot BHR3, the foot structure with active toes joint is designed, gait plan with heel uplifting and toe supporting is developed, and the gait is feasible according to multi-body system dynamics simulation. Compared with the foot without joint, the gait introduced in this paper is more natural, as well as more stable. At the same...
We present a new method to generate biped walking patterns for biped robots on uneven terrains. Our formulation uses a universal stability criterion that checks whether the resultant of the gravity wrench and the inertia wrench of a robot lies in the convex cone of the wrenches resulting from contacts between the robot and the environment. We present an algorithm to compute the feasible acceleration...
We present a control architecture for fast quadruped locomotion over rough terrain. We approach the problem by decomposing it into many sub-systems, in which we apply state-of-the-art learning, planning, optimization and control techniques to achieve robust, fast locomotion. Unique features of our control strategy include: (1) a system that learns optimal foothold choices from expert demonstration...
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...
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...
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