39 ISSN 1729‐8806, pp. 41‐50 Design, Modeling and Control of a Biped Line-Walking Robot Ludan Wang1, Fei Liu1, Shaoqiang Xu1, Zhen Wang1, Sheng Cheng1 and Jianwei Zhang1,2 1Laboratory of Intelligent Robot Engineering, Kunshan Institute of Industry Research, Kunshan, China 2TAMS, Department of Informatics, University of Hamburg, Hamburg, Germany [email protected] Abstract: The subject of t...

The generation of the optimal walking trajectory is an important question for a biped robot to keep walking stably. This paper is proposed for generating the walking trajectories resulted in best performance of the biped robot using multi-objective evolutionary computation. We formulate a trajectory generation problem as a multi-objective optimal problem. We obtain all Pareto-optimal solutions ...

S3 MIT learning biped. This movie begins with the powered robot imitating passive walking down a 0.9 degree slope, from three camera angles. Then it shows the robot learning to walk on flat terrain with foam protective pads. The controller kicks the robot into random initial conditions between learning trials. After a few minutes, the robot is walking well in place, so we command it to walk in ...

The bipedal structure is one of the most versatile ones for the employment of walking robots. The biped robot has almost the same mechanisms as a human and is suitable for moving in an environment which contains stairs, obstacle etc, where a human lives. However, the dynamics involved are highly nonlinear, complex and unstable. So it is difficult to generate human-like walking motion. To realiz...

This paper describes walking control algorithm for the stable walking of a biped humanoid robot on an uneven and inclined floor. Many walking control techniques have been developed based on the assumption that the walking surface is perfectly flat with no inclination. Accordingly, most biped humanoid robots have performed dynamic walking on well designed flat floors. In reality, however, a typi...

Purpose – This study seeks to develop a novel eight-legged robot. Additionally, this study defines design and control of an eight-legged single actuator walking ROBOTURK SA-2 spider robot based on the features of a creatural spider. Design/methodology/approach – First, the single actuator eight-legged tetrapod walking spider robot was modeled on solid works and then the animation of the model w...

Compared with the serial mechanism, the parallel mechanism has many advantages. Using the parallel mechanism as the basic leg mechanism of a walking robot, not only the payload-weight ratio can be improved, but also the robot walking stability and security performance can be enhanced. By combining the kinematics features of 3-UPU parallel mechanism with the structural features of the quadruped ...

The paper presents a systemic approach of a walking robot behavior and control in uncertain environments, with application to a hexapod robot. For simplicity, this paper considers only the vertical xzplane evolution taking into account that the structure is symmetrical in the horizontal xy-plane and the results can be easily extended. Based on the mathematical model of the robot, determined con...

Because of the natural selection and the long period evolution of various animals in the nature, the animals generates the strong adaptability to the surroundings on energy conversion, locomotion control, gesture adjustment, information processing and discerning direction. The animals’ structure and function is better than the man-made mechanical equipment’s. Therefore animals are becoming refe...