this paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. to this end, a humanoid robot with 18 dof is considered to develop a dynamics model for studying various 3d manoeuvres. then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. in order to generate feasible w...

A three-step planning method is proposed, aiming at the redundancy of DOFs and the complexity of a biped robot’s gait planning. The method presents a quick procedure on the planning of robot’s walking gait, and it is used in the walking gait planning of a biped robot, the HIT-Robocean. A robot virtual prototype model firstly is set up with the aid of the softwares, namely, Solidworks, Matlab, a...

The problem of gait planning for the quadruped search robot is described as an uncertainty discrete system. According to the basic gait elements of the quadruped search robot, the periodic gait of the robot is analyzed on the basis of gait timing diagram. The non-fragile control theory is proposed for gait planning control of quadruped search robot. A non-fragile reliable adaptive controller is...

This paper presents two planning methods for generating fast walking gaits for the quadruped robot RoboSimian and analyzes their feasibility and performance as a function of joint velocity limits. One approach uses a two-at-a-time swing leg motion gait, generated using preview control of the zero moment point (ZMP) on a narrow, double-support base of support. The second method uses a one-at-a-t...

In this paper we generate gaits for two types of underactuated mechanical systems: principally kinematic and purely mechanical systems. Our goal is to specify inputs in the form of gaits, that is, a sequence of controlled shape changes of a multi-bodied mechanical system that when executed would produce a desired change in the unactuated position or orientation variables of the entire mechanica...

We present a new biped walking pattern generator based on “half-steps”. Its key features are a) a 3-dimensional parametrization of the input space, and b) a simple homotopy that efficiently smooths the gait trajectory corresponding to a fixed sequence of steps. We show how these features can be ideally combined in the framework of sampling-based gait planning. We apply our approach to the robot...

There are several approaches to create the Humanoid robot gait planning. This problem presents a large number of unknown parameters that should be found to make the humanoid robot to walk. Optimization in simulation models can be used to find the gait based on several criteria such as energy minimization, acceleration, step length among the others. The presented paper addresses a comparison bet...

A substantial portion of the Earth is inaccessible to any sort of wheeled mechanism— natural obstacles like large rocks, loose soil, deep ravines, and steep slopes conspire to render rolling locomotion ineffective. Hills, mountains, shores, seabeds, as well as the moon and other planets present similar terrain challenges. In many of these natural terrains, legs are well-suited. They can avoid s...

We have designed an architecture that allows a gait planner to effectively control primitive walking behaviors. The behaviors ensure safe and efficient walking, even without planning; the addition of planning improves performance in rough terrain by allowing the robot to anticipate changes in its gait. We have implemented our approach and demonstrated it on a real robot, Dante II, and on a simu...