Theoretically the birth of the humanoid robot arises from the study of human characteristics of movement. However, following the human model does not mean copying it. It is still a big challenge to develop an advanced humanoid robot. Most researchers have shown an interest in developing an ideal theory to keep the balance in various grounds while walking since it is so important for the surviva...

This paper proposes a method of adaptively generating a gait pattern of biped robot. The gait synthesis is based on human’s gait pattern analysis. The proposed method can easily be applied to generate the natural and stable gait pattern of any biped robot. To analyze the human’s gait pattern, sequential images of the human’s gait on the sagittal plane are acquired from which the gait control va...

In biped locomotion, the energy minimization problem is a challenging topic. This problem cannot be solved analytically since modeling the whole robot dynamics is intractable. Using the inverted pendulum model, researchers have defined the Zero Moment Point (ZMP) target trajectory and derived the corresponding Center of Mass (CoM) motion trajectory, which enables a robot to walk stably. A chang...

This paper presents a novel dynamic control approach to acquire biped walking of humanoid robots focussed on policy gradient reinforcement learning with fuzzy evaluative feedback . The proposed structure of controller involves two feedback loops: conventional computed torque controller including impact-force controller and reinforcement learning computed torque controller. Reinforcement learnin...

The work is concerned with the integrated dynamic control of humanoid locomotion mechanisms based on the spatial dynamic model of humanoid mechanism. The control scheme was synthesized using the centralized model with proposed structure of dynamic controller that involves two feedback loops: position-velocity feedback of the robotic mechanism joints and reinforcement learning feedback around Ze...

This paper introduces an originally designed tracked robot. This robot belongs to the variable geometry single-tracked vehicle (VGSTV) category. Two active joints are used to control the shape of the vehicle and the tension of the tracks. Thus, it becomes possible to adapt the shape of the robot and the ground/robot contact points to the obstacle by controlling the joints. This paper presents s...

In this paper we evaluate the benefits of series elastic actuation in performing a balancing task on a humanoid robot. By having the possibility to replace the type of transmission at the ankles level, it was possible to repeat the very same experiment in two different conditions: (1) Using series elastic actuators (SEA); (2) Replacing the elastic elements with rigid transmissions. The experime...

In most robotic applications, tactile sensors are modeled as rigid matrices of adjacent pressure sensing elements so that the geometric deformations of their surfaces are neglected. This paper proposes to define these deformations as rotational and translational compliances that are later used as new tactile features for tactile servoing tasks. In fact, a novel two-layered inverse tactile Jacob...

We present a control architecture for fast quadruped locomotion over rough terrain. We approach the problem by decomposing it into many sub-systems, in which we apply state-of-the-art learning, planning, optimization, and control techniques to achieve robust, fast locomotion. Unique features of our control strategy include: (1) a system that learns optimal foothold choices from expert demonstra...

This paper presents an e cient online method to generate humanoid walking motions that satisfy desired upper body trajectories while simultaneously carrying objects. A fast motion pattern genaration technique that follows the desired ZMP is adopted. In order to satisfy the control input given online, subsequent motion patterns are updated and connected stably to the old ones while executing. Du...