Biped climbing robots are considered good assistants and (or) substitutes for human workers carrying out high-rise truss-associated routine tasks. Flexible locomotion on three-dimensional complex trusses is a fundamental skill for these robots. In particular, the capability to transit from one structural member to another is paramount for switching objects to be climbed upon. In this paper, we ...

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 ...

Controlling biped robots in a human-like way is still in the air in robotics. Due to the existing of shortcomings of technical control methods, researchers began to try to find help from biomechanics, neuroscience, human movement analysis and other biological fields. This paper presents a biologically inspired method of controlling the locomotion of biped robots based on the neurological and bi...

This paper presents work demonstrating the evolution of a biped robot named Tyrol from a simulation environment to physical realization. For the past few years, humanoid robot development has been receiving increasing interest by several research groups. The design of this class of robots is quite challenging because of a variety of reasons such as the high number of degrees of freedom involved...

Walking on rough terrains still remains a challenge that needs to be addressed for biped robots because the unevenness on the ground can easily disrupt the walking stability. This paper proposes a novel foot system with passively adjustable stiffness for biped robots which is adaptable to small-sized bumps on the ground. The robotic foot is developed by attaching eight pneumatic variable stiffn...

Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots. However, the walking control for bipedal robots is a challenging task due to their complex dynamics. Stable reference generation plays a very important ro...

The flexibility and deformations of the human plantar arch are among the most important issues when walking. Especially, the efficiency and mechanisms of the plantar arch should be demonstrated because there are few beings that have such a complex structure, in particular bipeds. On the other hand, nowadays biped robots have a too simple foot structure and they cannot walk like human in particu...

In this paper we present advancements in control and trajectory generation for agile behavior in bipedal robots. We demonstrate that Whole-Body Operational Space Control (WBOSC), developed a few years ago, is well suited for achieving two types of agile behaviors, namely, balancing on a high pitch split terrain and achieving undirected walking on flat terrain. The work presented here is the fir...

The bipedal structure is one of the most versatile ones for the employment of walking robots. The biped robot has almost the same mechanisms as a human and is suitable for moving in an environment which contains stairs, obstacle etc, where a human lives. However, the dynamics involved are highly nonlinear, complex and unstable. So it is difficult to generate human-like walking motion. To realiz...