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Dynamic maneuvers have been successfully implemented on many prismatic legged robots. Systems with articulated legs of significant relative mass pose more of a challenge in part due to the physics of thrusting with rotating limbs, which results in undesired non-vertical impulses, and in part due to the control problem of synchronizing ankle and knee joints. Presented here is an experimental articulated...
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...
Pronking (aka. stotting) is a gait in which all legs are used in synchrony, resulting in long flight phases and large jumping heights that may potentially be useful for mobile robots on rough terrain. Robotic instantiations of this gait suffer from severe pitch instability either due to underactuation, or the lack of sufficient feedback. Nevertheless, the dynamic nature of this gait suggests that...
The stabilization of a double inverted pendulum actuated at the hip only and moving in a three dimensional space may be considered to be a model of a human - and of other animals - postural control. Here, we show that postural control is possible by minimization of the system Lagrangian. A stochastic programming procedure proves to be able to find oscillatory inputs that bring the system close to...
Limit cycle walkers utilizing their natural dynamics can achieve energy-efficient dynamic walking. Their heel-strike collision with the ground is generally modeled as an inelastic collision, and the discrete walking dynamics can be specified in the same manner as a rimless wheel by using the energy-loss coefficient and restored mechanical energy. Energy-loss coefficient is especially significant because...
There are many commercially available robots that display biomimetic influences. Sony's Aibo and DasaRobot's Genibo are two examples where robot dog designs have drawn from nature. Aldebaran's Nao and Hanson Robotics' Zeno are examples of humanoids robots that have drawn influences from the human body. This paper presents the design of an autonomous 21 degree of freedom (DOF) robot bear, named HyKim...
In research of biped walking robot, energy-efficiency is an important issue. Full-actuated type robots using ZMP based control have high environmental adjustability and high robustness, but they consume much energy. On the other hand, passive dynamic walking type robots have high energy-efficiency, but they don't have high-environmental adjustability and robustness. Then, we have proposed an optimal...
Many researchers have been encouraged to investigate the design, posture and stability of biped robots in order to replicate the anthropoid gait. In this paper we develop a simple model of biped robot, which is based on the humanpsilas walking course and the humanpsilas physical structure. Then we have the research on the gait planning of biped robot, and we achieve the comparability between the biped...
In this paper, we show that a biped robot can walk dynamically using a simple control technique inspired from human locomotion. We introduce four critical angles that affect robot speed and step length. Our control approach consists in tuning the PID parameters of each joint for increasing stability of the walk. This method could be easily implemented in real time because it needs acceptable calculation...
This paper addresses the issue of implementing an intelligent velocity controller on the Platform for Ambulating Wheels (PAW). The PAW robot is a hybrid quadrupedal wheeled-legged robot that can bound, gallop, roll and brake at high speeds and perform inclined turning. The goal of implementing intelligent control is to increase the robotpsilas versatility and autonomy in order to traverse various...
Robots must be designed with consideration for reconfiguring body pose during operation if they are to address more challenging environments. Researchers have mostly relied on static stability methods to monitor the possibility of rollover in stationary or slow moving vehicles. However, little research in dynamic stability is being conducted for robots capable of reconfiguring their pose to overcome...
Stability of Biped walking has been an area of interest for researchers since decades. In this work an optimum hip trajectory is generated, taking its swinging foot trajectory that is a B-Spline path and physical parameters of the robot as input parameters. The objective is to minimize the deviation of zero moment point (ZMP) from the geometrical centre of supporting foot area. Genetic algorithm (GA)...
We Presents a method for designing free gaits for structural symmetrical four-legged robot capable of performing statically stable, omnidirectional walking on irregular terrain. Robotpsila s virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. The deliberative-based controller can generate flexible sequences of leg transferences...
In this paper, we develop a control law to stabilize passive periodic orbits (without external enregy) of a class of autonomous mechanical systems subject to model uncertainties. The dynamic model of such systems is Lagrangian and include multiple phases (modes) and discrete jumps (e. g walking robots). The approach is based in the notion of controlled symmetry (due to spong) which capture the effect...
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...
Biped robots have higher capabilities than other mobile robots, for moving on uneven environments. However, due to natural instability of these robots, their motion planning and control become a more important and challenging task. This article, will present a Cartesian approach for gate planning and control of biped robots without needing to use the joint space trajectories and the inverse kinematics...
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...
This work presents a method for synthesising the gait of a planar five-link biped walking on level ground. Both the single support phase (SSP) and the double support phase (DSP) are considered. The compatible trajectories of the hip and the swing limb are first designed, which has the advantage of decoupling the biped into three subsystems, namely a trunk and two lower limbs and thus, substantially...
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