Online learning and controller adaptation will be an essential component for legged robots in the next few years as they begin to leave the laboratory setting and join our world. I present the first example of a learning system which is able to quickly and reliably acquire a robust feedback control policy for 3D dynamic bipedal walking from a blank slate using only trials implemented on the phy...

In the age of an aging society, the prospective role of robots is turning gradually from just working machines to do monotonous work in a factories to partners who support human life. In recent years, a lot of autonomous humanoid robots have been actually realized (Hirai et al. (1998); Kaneko et al. (2008)). These robots can walk on two legs stably by means of the control based on ZMP (Zero Mom...

There are many circumstance limits to human like extreme radioactivity, temperature, chemical toxicity, pressure and so on. But, we need to detect and research region for making our sure safe and state. During long time, human have made a robot that have multi-joint biped robot and mobile robot using wheels. And now, that is developing but it still has some problem that is occurred by condition...

A walking gait is designed for a planar biped with two identical three-link legs, a trunk and two one-link arms. This ninelink biped is controlled via eight torques to obtain a cyclic gait. The scope of this paper is to investigate the effects of arms swing on the reduction of energy consumption during walking of a fully actuated planar biped robot. Kinematics and dynamics of a biped, HYDROID, ...

Abstract The paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle surmounting. With only 6 degrees of freedom, the 16 mechanical legs walks steadily and surmounts obstacles on complex terrain. leg unit provides large workspace empowers to climb up in sizes, which enhances surmounting capability. adjustment requires as few independent adjusting actuators possib...

A walking gait is designed for a planar biped with two identical three-link legs, a trunk and two one-link arms. This ninelink biped is controlled via eight torques to obtain a cyclic gait. The scope of this paper is to investigate the effects of arms swing on the reduction of energy consumption during walking of a fully actuated planar biped robot. Kinematics and dynamics of a biped, HYDROID, ...