Stable and robust dynamic locomotion has been gaining increasing attention to enhance the applicability of biped humanoids to dynamically changing environments. In this work, we propose an efficient neural oscillator network that controls the phase of the gait by incorporating sensory signals detecting the changes in terrain slope. This enables biped humanoids to reliably control periodic featu...

This paper proposes an on-line trajectory modification scheme for biped robots to cope with uncertainty o] their environment. For stable locomotion, biped robots should have robust properties against various disturbances such as ground irregularity and external pushing or pulling .forces. Since such uneertainty is not known a priori, biped robots should have the ability to adapt to them on-line...

In this paper, we present a new scheme for planning a naturallooking locomotion of a human-like biped figure. Given start and goal positions in a virtual environment, our scheme finds a sequence of motions to move from the start position to the goal using a set of prescribed, live-captured motion clips. Our scheme consists of three parts: roadmap construction, roadmap search, and motion generat...

This paper introduces an experimental small-sized biped mechanism that will be used to perform a dynamically stable smooth terrain walking. Some of the necessary criteria for biped locomotion are thoroughly explored. These criteria are actuator’s power, structural weight, leg-link design, and the computing hardware capability. All the criteria are taken into account during the course of constru...

The purpose of this research is to generate a stable motion for a hydraulic actuated biped robot. Since the application effect of most dynamic biped robot locomotion theories is not very well and the static walk pattern is hard to realize on human-sized hydraulic actuated biped robot because of the small size of foot compared with body height. In this study, we propose a trajectory planning met...

In the biped robotics domain, head oscillations may be extremely harmful, especially if robot is teleoperated, since vibrations strongly reduce operator’s spatial awareness. particular, undesired occur in under-actuated robots, where springs and passive mechanisms are used to achieve a human-like motion. This paper proposes an approach of robot’s head; proposed solution does not affect dynamic ...