Modelling of dynamically stable AR-601M robot locomotion in Simulink

Dynamically Balanced Omnidirectional Humanoid Robot Locomotion

vii

Applied optimal control for dynamically stable legged locomotion

Online learning and controller adaptation will be an essential component for legged robots in the next few years as they begin to leave the laboratory setting and join our world. I present the first example of a learning system which is able to quickly and reliably acquire a robust feedback control policy for 3D dynamic bipedal walking from a blank slate using only trials implemented on the phy...

Stable Locomotion of Feedforward Controlled One-legged Robot

INTRODUCTION An accepted model for understanding the dynamics of legged locomotion is the simple spring-mass model introduced by Blickhan [1] and further researched by Seyfarth, et. al. [3]. In reality, however, humans and animals use segmented legs for locomtion instead of simple springs. The combination of both in a motor-driven mechanical application should therefore be more biologically ins...

Critical Issues for Biped Mechanism in achieving Dynamically Stable Legged Locomotion

This paper introduces an experimental small-sized biped mechanism that will be used to perform a dynamically stable smooth terrain walking. Some of the necessary criteria for biped locomotion are thoroughly explored. These criteria are actuator’s power, structural weight, leg-link design, and the computing hardware capability. All the criteria are taken into account during the course of constru...

Locomotion Transition Scheme of Multi-Locomotion Robot