The study on biped locomotion in humanoid robots has gained great interest since the last decades (Hirai et. al. 1998, Hirukawa et. al., 2004, Ishiguro, 2007). This interest are motivated from the high level of mobility, and the high number of degrees of freedom allow this kind of mobile robot adapt and move upon very unstructured sloped terrain. Eventually, it is more desirable to have robots ...

The Humanoid Robotics Project of the Ministry of Economy, Trade and Industry of Japan realized that biped humanoid robots can perform manual labour. The project developed humanoid robot platforms, consisting of humanoid robot hardware and a package of fundamental software, and explored applications of humanoid robots on them. The applications include maintenance tasks of industrial plants, tele...

This article describes a topological approach to generating families of open- and closed-loop walking gaits for underactuated 2-D 3-D biped walkers subject configuration inequality constraints, physical holonomic constraints (e.g., linkages), virtual (user-defined enforced through feedback control). Our method constructs implicitly defined manifolds feasible periodic within state-time-control s...

Recognizing its surroundings is important for biped robots seeking a destination. In this paper, we propose a motion planning method of a biped robot including path planning and obstacle avoidance. The robot obtains distance information on its surrounding environment from images captured by a stereo camera system, and generates a 3D map, then, builds a 2D grid map that locates flat floor region...

A mathematical formalism for designing running gaits in bipedal robots with compliance is introduced and subsequently validated experimentally on MABEL, a planar biped that contains springs in its drivetrain. The methods of virtual constraints and hybrid zero dynamics are used to design a time-invariant feedback controller that respects the natural compliance of the open-loop system. In additio...

Trunk motions are typically used to stabilize the locomotion of biped robots, which can be very large in some leg trajectories. This paper proposes a method to reduce the motion range of the trunk by generating a desired trajectory of the ZMP. The trajectory is determined by a fuzzy logic based upon the leg trajectories that are arbitrary selected. The resulting ZMP trajectory is similar to hum...

This paper deals with the stable walking of biped robots. The presented control algorithm enables a biped to perform stable walking without using any precomputed trajectories. The algorithm merges gait trajectory generation and control, and can be used for global control, for local control along an existing trajectory as well as for online computation of gait trajectories for stable walking. Th...

This paper investigates two fundamental structures for biped robots and a control strategy to achieve stable biped running. The first biped structure contains straight legs with telescopic springs, and the second one contains knees with compliant elements in parallel with the motors. With both configurations we can use a standard linear discrete-time state-feedback control strategy to achieve a...

The purpose of this study is to find natural gait of biped robot such as human being by analyzing the COG (Center Of Gravity) trajectory of human being's gait. It is discovered that human beings gait naturally maintain the stability and use the minimum energy. This paper intends to find the natural gait pattern of biped robot using the minimum energy as well as maintaining the stability by anal...