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 ...

Human biped locomotion is an ultimate style of biological movement that is a highly evolved function. Biped locomotion by robots is a dream to be attained by the most highly evolved or integrated technology, and research on this has a history of over 30 years. Many methods of generating gaits have been proposed. There has been a tendency to reduce the complicated dynamics of a walking robot to ...

This chapter designs an intelligent humanoid robot that not only can walk forward, backward, turn left, turn right, walk sideward, squat down, stand up and bow smoothly, but also can imitate several human basic motions. The robot’s structure is composed of 17 AI motors with some selfdesign acrylic sheets connections. The robot is like a human in that it also has two hands, two feet, and a head....

The focus of this work is a systematic study of the passive gait of a compass-like planar biped robot on inclined slopes. The robot is kinematically equivalent to a double pendulum, possessing two kneeless legs with point masses and a third point mass at the \hip" joint. Three parameters, namely the ground slope angle and the normalized mass and length of the robot describe its gait. We show th...

In this paper we consider the postural stability problem for nonlinearly actuated quasi-static biped robots, both with respect to the joint angular positions and also with reference to the gripping effect between the foot/feet against the ground during robot locomotion. Zero moment point based mathematical models are developed to establish a relationship between the robot state variables and th...