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Legged robots are superior in terms of agility and versatility while inferior in stability compared to their wheeled or tracked counterparts. Researchers have developed some algorithms for quadruped robots to achieve impact absorption. Unfortunately those robots all refer to dynamic control and have high demands on the hardware performance. In this paper, we present an approach for quadruped robot...
This paper proposes a strategy for bipedal robot walking on inclined surfaces using position and orientation based inverse kinematics algorithm. Some researchers implemented control approaches to solve bipedal walking on inclined surfaces. Generally, most of them apply control feedback at ankle joints and also introduced many more control methodologies. In this paper, inverse kinematics methodology...
In generating walking patterns for humanoid robots, a Center-of-Mass trajectory is usually derived from the desired Zero-Moment-Point (ZMP) trajectory. One way to accomplish this is the use of the preview-control method, which tracks the desired ZMP trajectory while minimizing the jerk. Another method, which is more computationally efficient, is based on the convolution-sum method. Although this method...
In this paper, stable hopping of a one-legged, articulated robot with a flat foot is investigated. The robot has a special feature that before taking off, it goes through an underactuated phase in which the foot rotates about the unactuated toe on the ground. By having the underactuated phase, the robot can perform stable human-like hops with longer hopping distances. To devise a systematic trajectory...
This paper proposes a novel user interface for creating whole body motions of biped humanoid robots just by giving key poses. Although such an interface is popular for CG character animation, there have not been any practical systems that can appropriately handle the kinematic and dynamic conditions required for moving actual biped robots stably without falling down. In our interface, every time a...
This paper focuses on steering a 3D robot while walking on a flat surface. A hybrid feedback controller designed in for stable walking along a straight line is modified so that it is capable of adjusting the net yaw rotation of the robot over a step in order to steer the robot along paths with mild curvature. The controller is designed on the basis of a single pre-defined trajectory for periodic walking...
This paper presents a method for mapping captured human motion with stepping to a humanoid model, considering the current state and the controller behavior. The mapping algorithm modifies the joint angle, trunk and center of mass (COM) trajectories so that the motion can be tracked and desired contact states can be achieved. The mapping is performed in two steps. The first step modifies the joint...
This paper describes a 3-D biped walking over rough terrain. The robot is modeled as the special 3-D inverted pendulum that can change the length. The dynamics of the 3-D inverted pendulum is modeled as 2-D autonomous system by applying the Passive Dynamic Autonomous Control (PDAC) that is based on the assumption of point-contact of the robot foot and the virtual holonomic constraint as to robot joints...
This paper proposes a slope-walking strategy of a bipedal robot using position and orientation based inverse kinematics method. Some researchers implemented control approaches to solve this problem. Generally, they apply control feedback at ankle joints and introduced many more control methodologies. Several researchers used pelvis and foot trajectories without showing center of mass trajectory. In...
This paper presents and experimentally demonstrates a control approach for actuated dynamic walking in biped robots. Rather than utilizing trajectory tracking, we proposed a control approach which employs state dependent control torques generated by low-gain spring-damper couples to encourage patterned motion of the robot. In order to verify that the control idea provides natural looking (human-like)...
By controlling the zero moment point (ZMP) The unexpected rotation of the supporting foot can be avoided. This paper analyze a control strategy for simultaneously regulating the position of the ZMP and the joints of the robot, the proposed controller is based on a path-following control strategy. The objective of the control law is not to track a (time based), but only the associated path in joint...
This paper is presenting a unified control frame to regulate possible undesired motions, which may occur throughout a bipedal walking motion. The proposed frame is based on the combination of orientation control, ZMP control and upper body motion regulation to be able to cope with distinct restriction factors and maintain dynamic balance in a feasible way. It can be plugged into one mass model based...
Many researchers have studied on walking stability controls for biped robots. Most of them are highly accurate acceleration controls based on the mechanics model of the robot. However, the control algorithms are difficult to be applied to human-carrying biped robots due to modeling errors. In the previous report, we proposed the landing pattern modification method, but it had a problem that a foot...
Improvement of the adaptability of a quadruped robot in rough terrain is studied in this paper. First, the position and posture of the body of the robot are adjusted to maximize the number of choices for foot placement of the next swing leg. The more choices the robot has to select the next suitable foothold, the better it will be to cope with rough terrain. Second, an effective foothold search algorithm...
This work presents a methodology to generate dynamically stable whole-body motions for a humanoid robot, which are converted from human motion capture data. The methodology consists of the kinematic and dynamical mappings for human-likeness and stability, respectively. The kinematic mapping includes the scaling of human foot and Zero Moment Point (ZMP) trajectories considering the geometric differences...
In this paper, a humanoid is simulated and implemented to walk up and down a staircase using the blending polynomial and univariate dynamic encoding algorithm for searches (uDEAS). The motivation of this paper is to divide efficient walking step for a commercial humanoid when ascending and descending a stair. Therefore ascending and descending a staircase are each scheduled by four steps. Each step...
The purpose of this study is to develop a methodology that enables a humanoid robot to imitate a whole body motion of a human. In the communication and interaction with a human being with motions and gestures, a humanoid robot needs not only to look like a human but to behave as a human does to make sure the meanings of motions and gestures. To act like a human, the humanoid robot has to imitate the...
The control of a biped humanoid is a challenging task due to the hard-to-stabilize dynamics. Walking reference trajectory generation is a key problem. Linear Inverted Pendulum Model (LIPM) and Zero Moment Point (ZMP) Criterion-based approaches in stable walking reference generation are reported. In these methods, generally, the ZMP reference during a stepping motion is kept fixed in the middle of...
This paper proposes a simple trajectory generation method for biped walking. This method needs only three trajectory control parameters, which are the stepping cycle, the length of a step and the max height of swing foot. The trajectory of robot's stance leg is generated by using the 3DLIPM (three dimensional linear inverted pendulum mode), and the combination of sinusoid curves is used to generate...
Building on previous propositions to generate walking gaits online through the use of linear model predictive control, the goal of this paper is to show that it is possible to allow on top of that a continuous adaptation of the positions of the foot steps, allowing the generation of stable walking gaits even in the presence of strong perturbations, and that this additional adaptation requires only...
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