in this paper the design of a biped robot actuated with shape memory alloy (sma) springs with minimum degrees of freedom is presented. sma springs are a class of smart materials that are known for their high power to mass and volume ratios. it was shown that utilizing spring type of smas have many advantages as large deformation, smooth motion, silent and clean movement compared to ordinary typ...

In this paper the design of a biped robot actuated with Shape Memory Alloy (SMA) springs with minimum degrees of freedom is presented. SMA springs are a class of smart materials that are known for their high power to mass and volume ratios. It was shown that utilizing spring type of SMAs have many advantages as large deformation, smooth motion, silent and clean movement compared to ordinary typ...

In this increasingly aging society, the needs for robots to assist human activities in daily environments such as offices, homes, and hospitals are growing rapidly. In such environments originally designed for human beings, biped robots, which have almost the same mechanisms as a human, present many advantages than wheeled robots like obstacle avoidance capabilities for its possibility of disco...

Controlling a biped robot with a high degree of freedom to achieve stable movement patterns is still an open and complex problem. Thus, the development of control mechanisms for biped walking have become an important field of research. With growing calculation power of computer hardware, high resolution realtime simulation of such robot models in effect becomes all the more applicable. This the...

As a biped robot has become more anthropomorphic and performs a various task on behalf of human, the research on biped robots gradually attracts much attention and is progressing dynamically. However, biped robots are difficult to control due to their nonlinear and coupled dynamics. First, Inverted pendulum [1] is applied to interpret some characteristics of human walking. Later, researchers co...

The purpose of this research is to generate a stable motion for a hydraulic actuated biped robot. Since the application effect of most dynamic biped robot locomotion theories is not very well and the static walk pattern is hard to realize on human-sized hydraulic actuated biped robot because of the small size of foot compared with body height. In this study, we propose a trajectory planning met...

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...

It is necessary for a biped robot to recognize a surrounding environment when moving to the destination. This paper presents a method for path planning and obstacle avoidance for the biped robot. In our approach, the robot obtains color information and distance information of objects from images captured by a stereo camera system. Then, the robot generates a 2D grid map which locates floor regi...

In this paper, a new biped robot soccer game platform was proposed. The platform is based on biped humanoid robot, it combined the research of robot control, wireless communication, machine vision, which make the humanoid robot game possible. Based on this platform, one can develop more advanced humanoid robot.

The focus of this work is a study of the passive dynamic walking of a kneeless biped robot with torso on inclined slopes. We show that under a simple PD control applied between the torso and the stance leg the biped robot converges at a stable gait cycle. we present recent results of trajectory sensitivity analysis to effeciently determine the stability of limit cycles for the biped robot.