We propose a model-based reinforcement learning algorithm for biped walking in which the robot learns to appropriately place the swing leg. This decision is based on a learned model of the Poincare map of the periodic walking pattern. The model maps from a state at the middle of a step and foot placement to a state at next middle of a step. We also modify the desired walking cycle frequency bas...

For biped robot, friendly environment interaction makes sense. In this paper, a new method to plan the gait and control a biped robot on stairs with desired ZMP is proposed first. The desired ZMP derived from an iterative optimal algorithm not only has enough stability margin and satisfies actuator specifications, but also is available to implement and energy saving. Then, a controller with for...

The purpose of this paper is to show realization of passive walking of a biped robot Emu that is composed of one body and two legs. The semi-passive walking means that a biped robot walks passively on gentle descent accompanying with attitude control of the body. In the beginning of this paper, we outline the formulation for the passive and semi-passive walking. We analyze, next, stability of t...

In this paper, a prismatic joint biped robot trajectory planning method is proposed. The minimum consumed energy is used as a criterion for trajectory generation, by using a real number genetic algorithm as an optimization tool. The minimum torque change cost function and constant vertical position trajectories are used in order to compare the results and verify the effectiveness of this method...

An optimal robust state feedback tracking controller is introduced to control a biped robot. In the literature, the parameters of the controller are usually determined by a tedious trial and error process. To eliminate this process and design the parameters of the proposed controller, the multiobjective evolutionary algorithms, that is, the proposed method, modified NSGAII, Sigma method, and MA...

Biped walking by using all joint movements and DOFs in both directions (sagittal plane and coronal plane) is one of the most complicated research topics in robotics. In this paper, angular trajectories of a stable biped walking for a humanoid robot are generated by a Truncated Fourier Series (TFS) approach. The movements of legs and arms in sagittal plane are implemented by an optimized gait ge...

This paper deals with multi-objective optimization in gait planning of a 7-dof biped robot ascending and descending some staircases. Both its power consumption as well as dynamic balance margin depends on a few common design parameters. The biped robot should have a maximum dynamic balance margin but at the expense of minimum power. Thus, a conflicting relationship exists between these two obje...

In this paper, researches and advances in biped locomotion are reviewed. A detailed survey is presented describing the various research problems and the approaches reported in the literature to analyze and control biped locomotion. A method of Zero-Moment-Point (ZMP) compensation is discussed to improve the stability of locomotion of a biped which is subjected to disturbances. A compensating to...