| This autonomous biped walking control system is based on the reactive force interaction at the foothold. The precise 3D (three dimensional) dynamic simulation presented includes: 1) a posture controller which accommodate the physical constraints of the reactive force/torque on the foot by quadratic programming. 2) a real-time COM (center of mass) tracking controller for foot placement, with a...

Biped robot control techniques are usually based on the tracking of pre-computed reference trajectories. Therefore, to achieve autonomy in locomotion, it is necessary to store a set of trajectories handling all the possible situations and events the system is susceptible to encounter. This paper presents a method for the generation of walking gaits for biped robots. Theses gaits define locomoti...

This paper concerns on footstep planning of a biped robot in an environment having some obstacles. Biped robot has an advantage to work in human surroundings: This is accomplished by its capability to walk over the obstacles. Though its foot placement should be discussed to step over obstacles, it is difficult because dynamic biped locomotion is a complex interaction system between CoG trajecto...

In this increasingly aging society, the needs for robots to assist human activities in daily environments such as offices, homes, and hospitals are growing rapidly. In such environments originally designed for human beings, biped robots, which have almost the same mechanisms as a human, present many advantages than wheeled robots like obstacle avoidance capabilities for its possibility of disco...

Wheel-based locomotion is the most commonly used by mobile robots, due to its simplicity and robustness. However, when facing uneven terrain, such as steps or rocky terrain, its mobility is greatly reduced. Biped robots, in contrast, have a greater adaptation potential to these challenges due to the suitability of its structure. In spite of this, the traditional biped locomotion methods used by...

A general approach based on discrete mapping techniques is presented to study stability of bipedal locomotion. The approach overcomes difficulties encountered by others on the treatment of discontinuities and nonlinearities associated with bipedal gait. A five-element bipedal locomotion model with proper parametric formulation is considered to demonstrate the utility of the proposed approach. C...

In this paper, we introduce a framework for learning biped locomotion using dynamical movement primitives based on non-linear oscillators. Our ultimate goal is to establish a design principle of a controller in order to achieve natural human-like locomotion. We suggest dynamical movement primitives as a central pattern generator (CPG) of a biped robot, an approach we have previously proposed fo...