A companion paper has addressed the problem of designing controllers that induce exponentially stable, periodic walking motions at a given fixed walking rate for a planar, biped robot with one degree of underactuation in single support. This note provides two additional control features: (i) the ability to compose such controllers in order to obtain walking at several discrete walking rates wit...

One key problem to achieve a dynamically stable walking motion with biped robots is to measure and control the actual state of the robot with respect to its environment. Dynamically stable walking on unstructured terrain and fast walking can only be achieved with an orientation sensor. The control system of the biped robot “Johnnie” is designed such that the orientation of the upper body is con...

This thesis describes a model to replicate the dynamics of a walking robot inside USARSim. USARSim is an existing 3D simulator based on the Unreal Engine, which provides facilities for good quality rendering, physics simulation, networking, a highly versatile scripting language, and a powerful visual editor. To model the dynamics of a walking robot the balance of the robot in relation with the ...

Honda has been doing research on robotics since 1986 with a focus upon bipedal walking technology. The research started with straight and static walking of the first prototype two-legged robot. Now, the continuous transition from walking in a straight line to making a turn has been achieved with the latest humanoid robot ASIMO. ASIMO is the most advanced robot of Honda so far in the mechanism a...

For humanoid robots to replace humans in dangerous environments, they require a robust fall prevention system that can detect falls, prevent major damage and recover back up to continue on with the task. This paper introduces a system that is capable of fall detection, mitigation and recovery in a robot equipped with walking sticks. Walking sticks allow the humanoid robot to extend its support ...

The development of optimized motions of humanoid robots that guarantee a fast and also stable walking is an important task especially in the context of autonomous soccer playing robots in RoboCup. We present a walking motion optimization approach for the humanoid robot prototype HR18 which is equipped with a low dimensional parameterized walking trajectory generator, joint motor controller and ...

In this paper, we present our design and experiments on a planar biped robot under the control of a pure sensor-driven controller. This design has some special mechanical features, for example small curved feet allowing rolling action and a properly positioned center of mass, that facilitate fast walking through exploitation of the robot’s natural dynamics. Our sensor-driven controller is built...