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In this paper, an observer-based indirect adaptive fuzzy output feedback control scheme is proposed for a biped robotic system. Fuzzy logic systems are employed to approximate the biped unknown nonlinear functions. Based on the fuzzy system, a state observer is designed for estimating the states of the controlled system. In addition, we use a regularized inverse function to overcome the control singularity...
This paper presents preliminary work towards the evaluation of an on-shoe tactile display that enables users to obtain information through the sense of touch of their feet. A series of experiments were designed to determine the performances of 20 healthy sighted and 5 blind voluntary subjects. Tests evaluated the perception of simple shapes, patterns, and directional instructions. Results show that...
In this paper, landing stability of jumping gaits is studied for a four-link planar biped model. Rotation of the foot during the landing phase leads to underactuation due to the passive degree of freedom at the toe, which results in nontrivial zero dynamics (ZD). Compliance between the foot and ground is modeled as a spring-damper system. Rotation of the foot along with the compliance model introduces...
Presence in virtual environments is achieved when the user is immersed and experiences a sense of realism. Multi-modal feedback is used to create this sense of realism. This study tested the contributions of visual stimuli and haptic effects to the userspsila sense of realism on a walking simulator. Haptic effects were modeled as an icy or a muddy road surface. To determine if the haptic effects modified...
The recent trend of humanoid robotics research has been deeply influenced by concepts such as distributed architectures, local control, force interaction and emergence of coordinated motions. A hypothesis is that feedback control from several sensors, such as force sensors and inertial devices, and more advanced control algorithms will be a key issue for the next developments. In this paper, we discuss...
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...
We present a method to optimize the walking pattern of a humanoid robot for forward speed using suitable metaheuristics. Our starting point is a hand-tuned open-loop gait that we enhance with two feedback control mechanisms. First, we employ a P-controller that regulates the foot angle in order to reduce angular velocity of the robot's body. Second, we introduce a phase resetting mechanism that starts...
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...
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