In this paper, we propose a balance control algorithm based on fuzzy controller using 3D (Dimensional) geometric information obtained from sequential images. The pose of a biped robot is acquired from image information instead of different sensors, and this pose information is used for fuzzy controller to keep biped robot in a stable balanced condition. Initially, the camera mounted on the head...

This paper presents cubic spline interpolation based trajectory planning method which is aiming to achieve smooth biped robot walking trajectory. We first characterize the bipedal walking cycle and point out some major issues that need to be addressed to plan a continuous swing leg trajectory by using the concept of cubic polynomial and cubic spline interpolation. By applying these interpolatio...

This paper introduces a new motion planning algorithm for a biped robot. A geometric constraint equation derived by reshaping the existing ZMP equation enables one to treat the kinematics of the biped robot as a "redundant degrees of freedom" system. Using the ZMP constraint equation, a sequential redundancy resolution algorithm is proposed, which ensures the ZMP trajectory, the planned operati...

Abstract: The legged robot can only walk very similar to human walking pattern. Therefore, many robots have been researched and developed in recent years. However, the biped robots still have many issues for the natural human walking in terms of the redundant degree of freedom, complexity of the kinematics, and stability. In this paper, we have described our biped robot modeling in the forward ...

The evolution of a dynamic walking gait of biped robot is presented in this paper. The gait is generated for a biped robot to walk on flat ground and climb up stairs. For the trajectory based gait generation, various parameters satisfy ZMP criterion and can realize continuous walking. The evolutionary algorithm is used to choose the parameter combinations. Simulation studies show that the algor...

Controlling a biped robot with a high degree of freedom to achieve stable movement patterns is still an open and complex problem, in particular within the RoboCup community. Thus, the development of control mechanisms for biped locomotion have become an important field of research. In this paper we introduce a model-free approach of biped motion generation, which specifies target angles for all...

Biped robots are intricate in design, with more degrees of freedom (DOF) because of the challenging goal of imitating humanoid gait. This paper gives a very simple architecture of the biped robot have three degrees of freedom (DOF)in each leg, one DOF for hip joint and one corresponding to the knee and ankle joint respectively. Denavit-Hartenberg parameter is being used to obtain the solution f...

Humanoid robot is a type of robot that the overall appearance is based on that of the human body. Humanoid robots include a rich diversity of projects where perception, processing and action are embodied in a recognizably anthropomorphic form in order to emulate some subset of the physical, cognitive and social dimensions of the human body and experience. The research on humanoid robots spans f...

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 Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...

In this paper, we present our design and experiments on a planar biped robot under the control of a pure sensor-driven controller. This design has some special mechanical features, for example small curved feet allowing rolling action and a properly positioned center of mass, that facilitate fast walking through exploitation of the robot’s natural dynamics. Our sensor-driven controller is built...