Human-like walking for humanoid robot is still an open research topic. This article proposes a method to generate real human-like walking pattern for humanoid robot. As walking patterns generated by existing methods differ a lot from these of human, especially for the traditional walking pattern with knee bent and pelvis lower down with a constant height, we started from the modeling of kinemat...

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...

In this project, an in-house built bipedal walking Robot uses two direct current gear motors to power its legs. Each leg could bend at the knee to assist the walking routines. In order to improve the walking step, a stabilization system is designed through a mechanical and field programmable gate array controller to improve the walking condition. In addition, the robot is able to prevent hittin...

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 ...

Humanoid walking trajectory is a complex task, due the high number of degrees of freedom (DOFs) and changes on the mechanical structure during walking. A non-trivial problem in bipedal robot walking is the instability produced by violent transitions between different walk phases. This work presents a trajectory generation algorithm for a biped robot. The algorithm is based on cubic Hermitian po...

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...

Fast and flexible walking is necessary for humanoid robots in the Robocup soccer competition. We propose a new fuzzy-logic control scheme that would enable the robot to realize flexible walking with high standard of stability by restricting the step length and inclining the body of robot to an appropriate logic body control scheme uses the desired walking direction and rotating angle as an inpu...

The Ranger Robot is based on the approach of dynamic walking. Although it has already been shown that dynamic walking works in practice, it has never been shown that this method is reliable for walking a long distance. On April 3 2008, the Cornell Ranger walked a world record distance of 9 kilometers. It is the first walking robot to walk such a distance without being touched by any person, and...

The evolution of a dynamic walking gait of biped robot is presented in this paper. The gait is generated for a biped robot to walk on flat ground and climb up stairs. For the trajectory based gait generation, various parameters satisfy ZMP criterion and can realize continuous walking. The evolutionary algorithm is used to choose the parameter combinations. Simulation studies show that the algor...