A real-time joint trajectory generator for planar walking bipeds is proposed. In the near future this trajectory planner will be implemented on the robot “Lucy”, which is actuated by pleated pneumatic artificial muscles. The trajectory planner generates dynamically stable motion patterns by using a set of objective locomotion parameters as its input, and by tuning and exploiting the natural upp...

Implementing efficient actuators with good backdriveability properties is of primary importance for the design high-performance performance bipedal robots. Nowadays, use linear direct drive electric motors an interesting choice. This actuation scheme closer to muscular system human legs. However, efficiency highly sensitive placement their attachment points. Two main issues are addressed in thi...

Biped climbing robots are considered good assistants and (or) substitutes for human workers carrying out high-rise truss-associated routine tasks. Flexible locomotion on three-dimensional complex trusses is a fundamental skill for these robots. In particular, the capability to transit from one structural member to another is paramount for switching objects to be climbed upon. In this paper, we ...

In this paper, we present a method for co-evolving structures and controller of biped walking robots. Currently, biped walking humanoid robots are designed manually on trial-and-error basis. Although certain control theory exists, such as zero moment point (ZMP) compensation, these theories assume humanoid robot morphology is given in advance. Thus, engineers have to design control program for ...

Stability and robustness are two important performance requirements for a dynamic walking robot. Learning and adaptation can improve stability and robustness. This thesis explores such an adaptation capability through the use of neural networks. Three neural network models (BP, CMAC and RBF networks) are studied. The RBF network is chosen as best, despite its weakness at covering high dimension...