This paper proposes a model called the gravitycompensated inverted pendulum mode (G CIPM) to generate a biped locomotion pattern that is similar to the one generated by the linear inverted pendulum mode, but accommodates the free leg dynamics based upon its predetermined trajectory. When the biped locomotion based upon the linear inverted pendulum mode is applied to real biped robots, the stabi...

In this paper an adaptive neural-fuzzy walking control of an autonomous biped robot is proposed. This control system uses a feed forward neural network based on nonlinear regression. The general regression neural network is used to construct the base of an adaptive neuro-fuzzy system. The membership functions used in the antecedent part of the fuzzy system are asymmetric and with varying shapes...

This paper is concerned with the passive walking of an underactuated biped robot. First, we present the modelling of the biped robot (that is a 7 DOF robot). Then, we focus on the study of the almost passive dynamic walking. In particular, we show that the application of a nonlinear feedback control to stabilize the torso and knees leads the biped robot to perform a stable almost-passive dynami...

-We have de veloped a humanoid robot HRP-2P with a biped locomotion controller, stereo vision software and aural human interface to realize cooperative works by a human and a humanoid robot. The robot can find a target object by the vision, and carry it cooperatively with a human by biped locomotion according to the voice commands by the human. A cooperative control is applied to the arms of th...

One key problem to achieve a dynamically stable walking motion with biped robots is to measure and control the actual state of the robot with respect to its environment. Dynamically stable walking on unstructured terrain and fast walking can only be achieved with an orientation sensor. The control system of the biped robot “Johnnie” is designed such that the orientation of the upper body is con...

The inverse kinematics of a 12 degrees-of-freedom (DOFs) biped robot is formulated in terms of certain parameters. The biped walking gaits are developed using the parameters. The walking gaits are optimized using genetic algorithm (GA). The optimization is carried out considering relative importance of stability margin and walking speed. The stability margin depends on the position of zero-mome...

A Genetic Algorithm (GA) gait synthesis method for walking biped robots is considered in this paper. The walking occupy most of the time during the task performance, therefore its gait is analyzed based on the minimum consumed energy (CE) and minimum torque change (TC). The biped robot optimal gait is considered starting from static standing state and continuing with normal walking. The propose...

A three-step planning method is proposed, aiming at the redundancy of DOFs and the complexity of a biped robot’s gait planning. The method presents a quick procedure on the planning of robot’s walking gait, and it is used in the walking gait planning of a biped robot, the HIT-Robocean. A robot virtual prototype model firstly is set up with the aid of the softwares, namely, Solidworks, Matlab, a...

Virtual model control is a motion control framework that uses virtual components to create virtual forces generated when the virtual components interact with a robot system. An algorithm derived based on the virtual model control framework is applied to a physical planar bipedal robot. It uses a simple set of virtual components that allows the robot to walk successfully over level terrain. This...

The design of a simple biped robot primarily involves the control of balance. Controlling the direction of balance for a two legged walking robot typically means mimicking the human form and its walking locomotion. Even though the human locomotion approach is taken as the ultimate reference, gaits can be developed using less sophisticated methods. The ultimate aim is to maintain an upright tors...