Biped robots have specific dynamical constraints and stability problems which reduce significantly their motion range. In these conditions, motion planning used for mobile robots cannot be applied to biped robots. In this paper, the path planning problem is seen as finding a sequence of footholds in a 3D environment, keeping robot stability, motion continuity and working within the structural c...

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...

The authors have focused on the bipedal humanoid robot expected to play an active role in human living space, through studies on an anthropomorphic biped walking robot. As the first stage of developing a bipedal humanoid robot, the authors developed the human-size 35 active DOF bipedal humanoid robot “WABIAN” and the human-size 41 active DOF bipedal humanoid robot “ WABIAN-R”. The authors also ...

In this paper path planning and obstacle avoidance for a statically stable biped robot using PRM and reinforcement learning is discussed. The main objective of the paper is to compare these two methods of path planning for applications involving a biped robot. The statically stable biped robot under consideration is a 4-degree of freedom walking robot that can follow any given trajectory on fla...

In this paper we present a theoretical and experimental study of the self-excited walking of a biped mechanism with knees and feet on level ground. This biped mechanism possesses a single motor at the hip joint and active lock mechanisms at both knee joints. We first show that the self-excitation control enables the three-degrees-of-freedom planar biped model with feet to walk on level ground, ...

This paper addresses the design and programming of a biped robot. Simple kinematics will be employed to carry out an analysis of biped stability and control. Center of mass and angular position are key components of successful motion. These variables are monitored throughout each process gait. The motion is simulated using COSMOSMotion. Different software packages found in the market are analyz...

We propose a model-based reinforcement learning algorithm for biped walking in which the robot learns to appropriately place the swing leg. This decision is based on a learned model of the Poincaré map of the periodic walking pattern. The model maps from a state at a single support phase and foot placement to a state at the next single support phase. We applied this approach to both a simulated...

Controlling a biped robot with a high degree of freedom to achieve stable movement patterns is an open and complex problem. With growing computational power of computer hardware, high resolution realtime simulation of such robot models becomes more and more applicable. This approach presents a physical simulation of a 19 degree of freedom real biped robot model. The aim is to explore and optimi...

Biped robots have better mobility than conventional wheeled robots. The bio-inspired method based on a central pattern generator (CPG) can be used to control biped robot walking in a manner like human beings. However, to achieve stable locomotion, it is difficult to modulate the parameters for the neural networks to coordinate every degree of freedom of the walking robot. The zero moment point ...