This paper presents work demonstrating the evolution of a biped robot named Tyrol from a simulation environment to physical realization. For the past few years, humanoid robot development has been receiving increasing interest by several research groups. The design of this class of robots is quite challenging because of a variety of reasons such as the high number of degrees of freedom involved...

Theoretically the birth of the humanoid robot arises from the study of human characteristics of movement. However, following the human model does not mean copying it. It is still a big challenge to develop an advanced humanoid robot. Most researchers have shown an interest in developing an ideal theory to keep the balance in various grounds while walking since it is so important for the surviva...

The generation of the optimal walking trajectory is an important question for a biped robot to keep walking stably. This paper is proposed for generating the walking trajectories resulted in best performance of the biped robot using multi-objective evolutionary computation. We formulate a trajectory generation problem as a multi-objective optimal problem. We obtain all Pareto-optimal solutions ...

The purpose of this study is to find natural gait of biped robot such as human being by analyzing the COG (Center Of Gravity) trajectory of human being's gait. It is discovered that human beings gait naturally maintain the stability and use the minimum energy. This paper intends to find the natural gait pattern of biped robot using the minimum energy as well as maintaining the stability by anal...

We developed a control policy design method for robust low torque biped walking 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 succes...

This report presents a basic contact interaction-based navigation strategy for a biped humanoid robot to support current visual-based navigation. The robot’s arms were equipped with force sensors to detect physical contact with objects. We proposed a motion algorithm consisting of searching tasks, self-localization tasks, correction of locomotion direction tasks and obstacle avoidance tasks. Pr...

To explore an issue of a human-like motion, we have constructed a human-like biped robot called WABIAN-RII (WAseda BIped humANoid robot-Revised II) that has a total of fortythree mechanical degrees of freedom (DOF); two six DOF legs, two ten DOF arms, a four DOF neck, four DOF in the eyes and a torso with a three DOF waist. For human-robot symbiosis, the biped humanoid robot is required to have...

in this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. stability conditions are derived by studying unactuated dynamics and using the poincarã© map associated with periodic walking gaits. a stable gait is designed by an optimization process satisfying physical constraints and stability conditions. also, considering...

This paper presents the design of a biped robot using the Cerebellar Model Articulation Controller (CMAC). An inertial navigation system (INS) including gyroscopes and accelerometers is used to measure the robot’s attitude and acceleration for modifying the dynamic attitude of the robot. Moreover, a zero moment point (ZMP) compensator is used to on-line adjust the gait trajectories to improve t...

In this paper the design of a control system for a biped robot is described. Control is specified for a walk cycle of the robot. The implementation of the control system was done on Matlab Simulink. In this paper a hierarchical fuzzy logic controller (HFLC) is proposed to control a planar biped walk. The HFLC design is bio-inspired from human locomotion system. The proposed method is applied to...