The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
We propose a two-stage gait pattern generation scheme for the full-scale humanoid robots, that considers the dynamics of the system throughout the process. The fist stage is responsible for generating semi-dynamically consistent step position and step time information, while the second stage incorporated with multi-body dynamics system is responsible for generation of gait pattern that is feasible...
A method for implementing the ankle and hip balance control strategies, well known from studies on human balance control, is suggested. The moment of the acting disturbance force is evaluated continuously in real time via the difference between the ZMP and the ground projection of the center of mass. Compliant response to the continuous disturbance is ensured by attaching a virtual spring-damper in...
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...
This paper proposes a method of running pattern generation for biped robot. Prescribed ZMP (zero moment point) pattern is used to generate CoM (center of mass) motion. The ZMP pattern is generated by moving-spring-loaded inverted pendulum (SLIP) model. To reduce the ground impact, transitional motion of the landing foot is proposed. And the motion of foot is determined by using difference of ZMP and...
This paper proposes a new method of trajectory planning for biped robots walking on level ground. In this approach, the hip and foot trajectories are designed in Cartesian space using polynomial interpolation. The key parameters which define the trajectories are searched by genetic algorithm. The objective is to obtain the best trajectory that has large stability margin and low energy consumption...
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...
This paper presents a new forward walking pattern known as stretch-legged walking. Additionally, what has been termed the Walking Guide Platform (WGP) was developed to verify the developed walking pattern. For the WGP, a robot that can move in a sagittal plane was created. Next, a guide system and treadmill were developed. Those systems minimize disturbances from other motions except the sagittal...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.