Independent Joint Vibration Suppression Control of Elastic Actuators for Safe Biped Robot

Control for a Biped Robot with Minimal Number of Actuators

Vibration Suppression and Balance Control for Biped Humanoid Walking

In this paper, we present vibration suppression and balance control algorithm for biped humanoid robots in the motion embedded CoM Jacobian. The vibration control is employed during a single supporting phase, which can suppress vibration induced by structure flexibility. Because the previously proposed walking control method in the whole body coordination (WBC) framework is based on the rigid b...

Walking Pattern Filter for Dynamic Biped Robot with Sma Actuators

In this paper we present a walking pattern filter for Shape Memory Alloy (SMA) actuated biped robots. SMAs are known for their slow response. The actuation speed limitation can potentially lead to stability problems for biped robots. This filter adapts the human motion for a SMA biped in order to have a stable walking pattern. The Zero Moment Point (ZMP) is used as a main criterion of the filte...

Design and Vibration Control of Safe Robot Arm with MR-Based Passive Compliant Joint *

Seung-kook YUN** , Seong-Sik YOON** , Sungchul KANG**, and Munsang KIM** **Intelligent Robotics Research Center, Korea Institute of Science and Technology, Hawolgok-dong1 39-1, Sungbuk-ku, Seoul 136-791, Korea E-mail: [email protected], [email protected], {kasch, munsang}@kist.re.kr Mr. Seung-kook Yun is now with Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute ...

Optimized Joint Trajectory Model with Customized Genetic Algorithm for Biped Robot Walk

Biped robot locomotion is one of the active research areas in robotics. In this area, real-time stable walking with proper speed is one of the main challenges that needs to be overcome. Central Pattern Generators (CPG) as one of the biological gait generation models, can produce complex nonlinear oscillation as a pattern for walking. In this paper, we propose a model for a biped robot joint tra...