For 3D walking control of a biped robot we analyze the dynamics of a three-dimensional inverted pendulum in which motion i s constrained to move along an arbitrarily defined plane. This analysis leads us a simple linear dynamics, the Three-Dimensional Linear Inverted Pendulum Mode (SD-LIPM). Geometric nature of trajectories under the 3D-LIPM and a method for walking pattern genemtion are discus...

Abstract— In this paper, a simple Fourier series based algorithm has been used to achieve stable locomotion in an NAO biped robot, with 22 degrees of freedom that implemented in a virtual physics-based simulation environment of Robocup soccer simulation environment. The algorithm uses a Truncated Fourier Series (TFS) to generate control signal for the biped robot. To find the best angular traje...

In bipedal walking, stable balance and walking sequence are essential. In this work, a neural network to model the balance dynamic of a biped robot is proposed. The back propagation neural network capacities to generalize are used to agilely characterize the performance of a fuzzy PD incremental algorithm based on the ZMP criteria to balance a real biped robot structure. The effectiveness of th...

This paper presents the construction of a system composed by inertial sensors and the linkage with a biped robot, our main aim is the obtaining, quantification and analysis of human body posture (in rest or in motion). To achieve this, we have three objectives: 1. Determination and obtaining, of kinematics and dynamic of the body joints, 2. Imitation of body movements (biped robot prototype) 3....

Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots. However, the walking control for bipedal robots is a challenging task due to their complex dynamics. Stable reference generation plays a very important ro...

A biped robot is a mechanical multichain system. The peculiar features, that distinguishes this kind of robot with respect to others, e.g., industrial robots, is its switching nature between different phases, each one is the same mechanics subject to a different constraint. Moreover, because these (unilateral) constraints, represented by the contact between the foot/feet and the ground, play a ...

This paper deals with the generation of dynamically balanced gaits of a ditch-crossing biped robot having seven degrees of freedom (DOFs). Three different approaches, namely analytical, neural network (NN)based and fuzzy logic (FL)-based, have been developed to solve the said problem. The former deals with the analytical modeling of the ditch-crossing gait of a biped robot, whereas the latter t...