The gait of a multi-segment inchworm robot is a series of actuator actions that will change the shape of the robot to generate a net motion. In this article, we model the multisegment inchworm robot as a jinite state automaton. Gait generation is posed as a search problem on the graph described by the automaton with prescribed state transitions. The state transitions are defined based on the ki...

In this paper, humanoid gait generation is formulated as a multi-objective optimization problem with multiconstraint based on probability distribution models. Under this framework, an estimation of distribution algorithm (EDA) based gait optimization approach has been developed to speed up searching in high dimensional coupling space constructed by the permutation of optimization parameters to ...

Although walking machines exhibit many advantages over wheeled or tracked vehicles, legged vehicles have yet to be introduced in real applications because of the primitive development of specific techniques such as gait generation. This article addresses the design, implementation and experimentation of gaits to negotiate uneven terrain with a real machine. The gaits presented are a mixture of ...

In this paper we address the problem of energy optimal gait generation for biped robots Using a sim pli ed robot dynamics that ignores the e ects of cen tripetal forces we obtain unconstrained optimal tra jectories generated by piecewise constant inputs We study a complete gait cycle comprising single support double support and the transition phases The energy optimal gaits for di erent step le...

This paper briefs on an overview of recent progress and development in humanoid robot, HanSaRam series. HanSaRam (HSR) is a humanoid robot undergoing continual design and development in the Robot Intelligence Technology (RIT) Laboratory at KAIST since 2,000. Currently HSR-VI, the latest version developed in 2,004, is under experiment for on-line gait generation and aperiodic motion generation. ...

In this paper the problem of free gait generation and adaptability with reinforcement learning are addressed for a six-legged robot. Using the developed free gait generation algorithm the robot maintains to generate stable gaits according to the commanded velocity. The reinforcement learning scheme incorporated into the free gait generation makes the robot choose more stable states and develop ...

We discuss the gait generation and control architecture of a bioinspired climbing robot that presently climbs a variety of vertical surfaces, including carpet, cork and a growing range of stucco-like surfaces in the quasi-static regime. The initial version of the robot utilizes a collection of gaits (cyclic feed-forward motion patterns) to locomote over these surfaces, with each gait tuned for ...