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The mobility of humanoid robots are restrained by many natural constraints. Due to the unstable property of humanoid robots, they are usually controlled by a preplanning stable COG (center of gravity) trajectory subject to a properly designed ZMP (zero moment point) using inverted pendulum model. Despite the advantage of stability, the method becomes tricky to modify the preplanning footsteps randomly...
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,...
We present a decoupled controller for a simulated three-dimensional biped. To handle the high-dimensionality of the system, we break the dynamics down into multiple subsystems, which we control separately. For both the sagittal and coronal plane dynamics, we use dynamic programming to simultaneously optimize body motion, foot placement, and step timing for a two link inverted pendulum model. To use...
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 describes the control of an autonomous biped robot capable to be subjected to external forces applied in the sagittal plane. A 1st order Takagi-Sugeno-Kang (TSK) type neuro fuzzy net, that was trained based on experimental and simulation data, is used. This net uses the zero moment point (ZMP) position and its variation as inputs, and the sagittal correction of the robot's body is obtained...
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