Gait synthesis for the SD-2 biped robot to climb sloping surface

1990 ◽  
Vol 6 (1) ◽  
pp. 86-96 ◽  
Author(s):  
Y.F. Zheng ◽  
J. Shen
Keyword(s):  
Biped Robot ◽  
Gait Synthesis ◽  
Sloping Surface

Gait synthesis for a 12-degree-of-freedom biped robot by the LIPM

2018 ◽  
Author(s):  
Christian Alberto Matilde Dominguez ◽  
Eduardo Morales Sanchez ◽  
Gerardo Israel Perez Soto
Keyword(s):  
Biped Robot ◽  
Degree Of Freedom ◽  
Gait Synthesis

Genetic algorithm-based optimal bipedal walking gait synthesis considering tradeoff between stability margin and speed

Robotica ◽  
2009 ◽  
Vol 27 (3) ◽  
pp. 355-365 ◽  
Author(s):  
Goswami Dip ◽  
Vadakkepat Prahlad ◽  
Phung Duc Kien
Keyword(s):  
Genetic Algorithm ◽  
Degrees Of Freedom ◽  
Walking Speed ◽  
Stability Margin ◽  
Biped Robot ◽  
Bipedal Walking ◽  
Step Size ◽  
Walking Gait ◽  
Gait Synthesis ◽  
The Stability

SUMMARYThe inverse kinematics of a 12 degrees-of-freedom (DOFs) biped robot is formulated in terms of certain parameters. The biped walking gaits are developed using the parameters. The walking gaits are optimized using genetic algorithm (GA). The optimization is carried out considering relative importance of stability margin and walking speed. The stability margin depends on the position of zero-moment-point (ZMP) while walking speed varies with step-size. The ZMP is computed by an approximation-based method which does not require system dynamics. The optimal walking gaits are experimentally realized on a biped robot.

Hidden Attractor in a Passive Motion Model of Compass-Gait Robot

2018 ◽  
Vol 28 (14) ◽  
pp. 1850171 ◽  
Author(s):  
Mahdi Nourian Zavareh ◽  
Fahimeh Nazarimehr ◽  
Karthikeyan Rajagopal ◽  
Sajad Jafari
Keyword(s):  
Path Planning ◽  
Basin Of Attraction ◽  
Biped Robot ◽  
Motion Path ◽  
Motion Model ◽  
Hidden Attractor ◽  
Biped Robots ◽  
Sloping Surface ◽  
Dynamical Properties ◽  
Basin Of Attractions

Many studies have been done on different aspects of biped robots such as motion, path planning, control and stability. Dynamical properties of biped robot on a sloping surface such as equilibria and their stabilities, bifurcations and basin of attraction are investigated in this paper. Basin of attraction is an important property since it can determine the unseen conditions which affect the attractor of the system with multistabilities. By the help of basin of attractions, the paper claims that the strange attractors of compass-gait robot are hidden.

Gait Synthesis for a biped robot

Robotica ◽  
1997 ◽  
Vol 15 (6) ◽  
pp. 599-607 ◽  
Author(s):  
Ching-Long Shih
Keyword(s):  
Experimental Verification ◽  
Biped Robot ◽  
Variable Length ◽  
Biped Walking ◽  
Motion Trajectories ◽  
Gait Synthesis ◽  
Cubic Polynomials

In this paper, the realization of biped walking on even floor, sloping surfaces, and stairs is studied. The motion trajectories for the biped's body and its two feet are modeled by piecewise cubic polynomials. The main features of the biped robot include two variable-length legs and a moving weight which can be positioned side-to-side for balance. The contribution of this paper is gait synthesis and is experimental verification.

Application of Genetic Algorithms for biped robot gait synthesis optimization during walking and going up-stairs

2001 ◽  
Vol 15 (6) ◽  
pp. 675-694 ◽  
Author(s):  
Genci Capi ◽  
Yasuo Nasu ◽  
Leonard Barolli ◽  
Kazuhisa Mitobe ◽  
Kenro Takeda
Keyword(s):  
Genetic Algorithms ◽  
Biped Robot ◽  
Gait Synthesis
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