Development of a planar biped robot is currently underway at Yeditepe University. The robot consists of lower extremities with a torso that are designed at anthropomorphic dimensions. This study describes the design and testing of a foot contact sensor for the biped robot. Dynamic stability of a biped robot is commonly measured by the zero moment point (ZMP) method. Experimentally, ZMP is measu...

Over the past 15 years, there has been an increasing interest in humanoid robots. Researchers worldwide are trying to develop robots that look and move more like humans because they believe that anthropometric biped robots have several advantages over wheeled robots. For instance, humanoid robots can communicate with us and express their emotions by facial expressions, speech and body language....

Abstract Walking is one of the most complex tasks a human being can perform. It takes several years to develop patterns that enable person walk and run. Although it now possible replicate these in machines such as robots, actuators are needed control pace compensate for energy loss walking. However, small robots (in scale centimeters) size weight could be limiting factor their use. To solve thi...

Currently, in order to avoid obstacle, most robots will choose a new path. This paper proposed a new obstacle avoidance method for biped robots. When lower obstacle exists in the road, we will calculate the obstacle’s three-dimensional information instead of using the traditional method of re-select the path, so that the biped robot will avoid obstacles successfully by crossing the obstacle. In...

This paper demonstrates a strategy for the design and implementation of robust controllers for robots. The design technique is based on constructing an error vector between the robot measurable states and the desired states, then forcing the gradient of this error vector to be negative via the use of a suitable Lyapunov function. The controller is robust in the sense that it accommodates unstru...

This work proposes a new control approach for biped walking robots. Its purpose is to make human-like robots walk more smoothly and more efficiently with regard to energy. Thus, it is based on the decomposition of a step into two phases: a control phase which prepare a ballistic phase. As a first step towards more complex studies, the tools are simple and efficient: Lagrangian model, Newton’s i...

Many researchers have controlled and analyzed biped robots that walk in the sagittal plane. Nevertheless, walking robots require the capability to walk merely laterally, when they are faced with the obstacles such as a wall. In walking robot field, both nonlinearity of the dynamic equations and also having a tracking system cause an effective control has to be utilized to address these problems...

The advantage of legged locomotion in rough terrain and in confined spaces has been investigated extensively in recent years. It is anticipated that in the next decade or so, the prophecy that anthropomorphic biped robots will work side-by-side with humans will be realised. Recent successes in Japan have advanced the field substantially. However, little research has been conducted into the real...

Abstract: First, a brief overview is provided on humanoid robots, and also models for the dynamic behavior are discussed. As base for these models these two methods Denavit-Hartenberg and Newton-Euler are used. Main aim of this work is to investigate the stability of a biped robot developed from IHRT. There is currently the low base of robot consisting of feet, legs, hips and upper part of robo...