This paper proposes a thorough algorithm that can tune the walking parameters (hip height, distance traveled by the hip, and times of single support phase SSP and double support phase DSP) to satisfy the kinematic and dynamic constraints: singularity condition at the knee joint, zero-moment point (ZMP) constraint, and unilateral contact constraints. Two walking patterns of biped locomotion have...

This course project outlines an approach for constructing simple, relatively robust control strategies for a simple, physics-based biped character. A simple, articulated character was first built from links in the BOX2D simulator, and tested during each phase of creation. These phases consisted of specifying torques for each joint of the character, creating Proportional Derivative (PD) controll...

I n order to study the human being locomotion system, a multi-degrees of freedom (DOFs) biped prototype equipped with flexible feet, which is named as ROBIAN, is developed. I n this paper, the conceptual design of the biped prototype R O B I A N is discussed. The features of the R O B I A N are: (a) parallel mechanism at the hip and the ankle, (b) modular design and (c) 1DOF active/passive join...

It is well-known that a suitably designed unpowered mechanical biped robot can \walk" down an inclined plane with a steady periodic gait. The energy required to maintain the motion comes from the conversion of the biped's grav-itational potential energy as it descends. Investigation of such passive natural motions may potentially lead us to strategies useful for controlling active walking machi...

This paper proposes a hybrid control method of using the impedance control and the computed-torque control for biped robot locomotion. The computedtorque control is used for supporting (mn.strained) leg. For the free leg, the impedance control is wed, where different values of impedance parameters are used depending on the gait phase of the biped robot. To reduce the magnitude of an impact and ...

The control of physics-based simulated characters is an important open problem with potential applications in film, games, robotics, and biomechanics. While many methods have been developed for locomotion and quiescent stance, the problem of returning to a standing posture from a sitting or fallen posture has received much less attention. In this thesis, we develop controllers for biped sit-to-...

Our first aim is to develop a systematic method to estimate energy consumption of bipedal locomotion. This method is then used to evaluate the performance of materials and actuators that could be used for the design of a biped robot. Moreover, with this analysis we also demonstrated the importance of having good joint trajectories in order to reduce energy consumption. Results collected are the...

This paper proposes an impedance control method with impedance modulation strategy for biped robot locomotion. Both the constrained leg and the free leg are controlled by impedance control. The impedance parameters changes depending on the gait phase of the biped robot. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, the damping coeffici...

This paper describes the designing of a nonlinear biological controller inspired from stable human gait locomotion, which we implement for a stable biped motion on a Biped Robot. The design of a Central Pattern Generator (CPG) which consists of a four coupled Rayleigh Oscillators. A TwoWay oscillator coupling has been used for modeling the CPG. The parameters of the CPG are then optimized by Ge...

This chapter presents further investigations into the period-three route to chaos exhibited in the passive dynamic walking of the compass-gait biped robot as it goes down an inclined surface. This discovered kind of route in the passive bipedal locomotion was found to coexist with the conventional period-one passive hybrid limit cycle. The further analysis on the period-three route chaos is rea...