The motion control of a biped robot that can climb up and down stairs is studied in this work. The algorithm generates walking patterns with desired stable margin and walking speed. Only the approximate stair height and width are required. This algorithm derives the optimal hip height and uses cubic polynomial to generate the hip and foot trajectory. The control of initial and final speeds in a...

We developed a robust control policy design method in high-dimensional state space by using differential dynamic programming with a minimax criterion. As an example, we applied our method to a simulated five link biped robot. The results show lower joint torques from the optimal control policy compared to a hand-tuned PD servo controller. Results also show that the simulated biped robot can suc...

Humanoid walking trajectory is a complex task, due the high number of degrees of freedom (DOFs) and changes on the mechanical structure during walking. A non-trivial problem in bipedal robot walking is the instability produced by violent transitions between different walk phases. This work presents a trajectory generation algorithm for a biped robot. The algorithm is based on cubic Hermitian po...

A humanoid soccer robot named TWNHR-IV and designed by the TKU team to attend the HuroSot League of FIRA RoboWorld Cup is presented. A platform for the study of biped walking control is designed and implemented. A system architecture for TWNHR-IV is presented, where a CMOS sensor, a digital compass, an accelerometer, and eight pressure sensors are used to obtain the information of the environme...

It is well-known that a suitably designed unpowered mechanical biped robot can \walk" down an inclined plane with a steady gait. The characteristics of the gait (e.g., velocity, time period, step length) depend on the geometry and the inertial properties of the robot and the slope of the plane. A passive motion has the distinction of being \natu-ral" and is likely to enjoy energy optimality. In...

This paper proposes an on-line trajectory modification scheme for biped robots to cope with uncertainty o] their environment. For stable locomotion, biped robots should have robust properties against various disturbances such as ground irregularity and external pushing or pulling .forces. Since such uneertainty is not known a priori, biped robots should have the ability to adapt to them on-line...

Biped robots’ locomotion is realized by driving the joint motion via a drive chain. Therefore, stiffness of chain an important factor that affects performance and can influence behavior biped robot. This work focused on leg’s using mass-spring model based robot AIRO built in Zhejiang Lab. Methods for determination parameters proposed were presented, including use ANSYS Workbench to determine in...

The study on biped locomotion in humanoid robots has gained great interest since the last decades (Hirai et. al. 1998, Hirukawa et. al., 2004, Ishiguro, 2007). This interest are motivated from the high level of mobility, and the high number of degrees of freedom allow this kind of mobile robot adapt and move upon very unstructured sloped terrain. Eventually, it is more desirable to have robots ...

Humanoid robots have been expected to work as an alternative to human in severe working conditions. In order for humanoid robots to work in the field of civil engineering, construction or disaster-relief, humanoid robots must have ability of walking on uneven terrain such as sand, clay and snow. However, most of studies on biped walking on even or uneven terrain have assumed stiff ground. Biped...