The aim of this research is to design and implement line-tracking mobile robot. The robot must follow a line drawn on the floor with different color, avoids hitting moving object like another moving robot or walking people and achieves color sensing. The control system reacts by controlling each of the motors to keep the tracking sensor over the middle of the line. Proximity sensors used to avo...

In this thesis, we investigate the question of how a legged robot can walk efficiently, and take advantage of its ability to alter its gait. This work targets the issue of increasing the efficiency of legged vehicles on different challenging terrains. We decompose the problem into three sub-problems: walking gait problem, physical adaptation problem, and terrain identification and gait adaptati...

For realtime walking control of a biped robot, we analyze the dynamics of a three-dimensional inverted pendulum whose motions are constrained onto an arbitrarily defined plane. This analysis leads us a simple linear dynamics, the Three-Dimensional Linear Inverted Pendulum Mode (3D-LIPM). Geometric nature of trajectories under the 3D-LIPM is discussed, and an algorithm for walking pattern genera...

Problem statement: Present researches focus to make humanoid robots more and more autonomous so they can assist human in daily works like taking care of children, aged or disabled persons. In such social activities, the contemporary humanoid robots are expected to have human like morphology and gait. Studies on bipedal locomotion for humanoid robots are then part of the hottest topics in the fi...

This paper presents the design of our new 33 degree of freedom full size humanoid robot, SAFFiR (Shipboard Autonomous Fire Fighting Robot). The goal of this research project is to realize a high performance mixed force and position controlled robot with parallel actuation. The robot has two 6 DOF legs and arms, a waist, neck, and 3 DOF hands/fingers. The design is characterized by a central lig...

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...

The aim of this research is to design and implement line-tracking mobile robot. The robot must follow a line drawn on the floor with different color, avoids hitting moving object like another moving robot or walking people and achieves color sensing. The control system reacts by controlling each of the motors to keep the tracking sensor over the middle of the line. Proximity sensors used to avo...

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...

In this paper we present results from the DARPA sponsored robotic project Scorpion. The eight-legged walking robot was modeled, constructed, and programmed in a way that was in many kinds inspired by biological topics. This aspect in robot design is the main focus here, e.g. a physical model for 8-legged walking with continously changing speed is derived from biological observations. Compared t...

We propose an analog CMOS circuit for developing a biologically-inspired locomotion controller for a quadruped walking robot. The proposed circuit is based on the biological neural network, called the central pattern generator (CPG), that can generate rhythmic movements for locomotion of animals, such as walking, running, swimming, and flying. We constructed a CPG model from the WilsonCowan neu...