In this paper we elaborate a study on self-stabilizing humanoid robot that achieves run-time self-stabilization and energy optimized walking gait pattern parameters on different kinds of flat surfaces. The algorithmic approach named SelSta uses biologically inspired notions that introduce robustness into the self-stabilizing functionality of the humanoid robot. The approach has been practically...

Developing a robust, flexible, closed-loop walking algorithm for a humanoid robot is a challenging task due to the complex dynamics of the general biped walk. Common analytical approaches to biped walk use simplified models of the physical reality. Such approaches are partially successful as they lead to failures of the robot walk in terms of unavoidable falls. Instead of further refining the a...

In this paper, we propose a universal biped walking generator that can plan smooth and flexible walking motions in complex environments, including stairs, slopes, and obstacles. In addition to generating collision-free patterns while keeping the balance of the robot, this generator also checks whether the patterns are achievable for the robot. Aiming at this goal, we introduce a simplified walk...

© 2009 Dong Won Kim et al. 565 This paper concerns the use of support vector regression (SVR), which is based on the kernel method for learning from examples, in identification of walking robots. To handle complex dynamics in humanoid robot and realize stable walking, this paper develops and implements two types of reference natural motions for a humanoid, namely, walking trajectories on a flat...

In this paper, stable modifiable walking pattern algorithm is proposed using evolutionary optimized central pattern generator (CPG). Sensory feedback pathways in CPG are proposed, which use force sensing resistor (FSR) signals. For the optimization of CPG parameters, two-phase evolutionary programming (TPEP) is employed. Modifiable walking pattern generator (MWPG) generates position trajectory ...

This paper presents the main simulation and experimental results from studies of the robustness of a proposed new control strategy for the under-actuated robot RABBIT. The disturbances studied include modifications of the characteristics of the foot/ground interaction and the application of external forces to the trunk of the robot. These two kinds of disturbance correspond to those most freque...

In this paper, we propose and demonstrate an omnidirectional walking engine that achieves stable walking using feedback from an inertial measurement unit (IMU). The 3D linear inverted pendulum model (3D-LIPM) is used as a simplified model of the robot, the zero moment point (ZMP) criterion is used as the stability criterion, and only the feedback from the IMU is utilized for stabilization. The ...

Gait study on quadruped robots with a locked joint failure is discussed in this paper. The quadruped robot has a moving appendage which, attached onto the robot body, serves as a controllable apparatus that changes the equivalent position of the center of gravity. We propose a crab gait sequence for the quaruped robot to continue its static walking despite an occurrence of a locked joint failur...

.Abstract – This paper reports a design and simulation of a new low-cost humanoid robot that has been named as CALUMA (CAssino Low-cost hUMAnoid robot). A 3D-CAD model of CALUMA has been developed in order to check the feasibility of the assembly, possible component interferences and kinematic behaviour. A dynamic simulation in ADAMS environment has been developed for CALUMA walking movements. ...

In this paper an online posture modification method termed Jacobi Compensation is proposed, which modifies precalculated step trajectories for a humanoid robot in certain task coordinate directions. This method can accomodate for modeling errors in trajectory precalculation in that for instance the center of mass (CoM) or certain parts of the humanoid mechanism can be shifted to increase walkin...