Biped locomotion strategy in humanoid robot navigation: A case of speed-up walk

2007 ◽  
Author(s):  
Hanafiah Yussof ◽  
Masahiro Ohka ◽  
Mitsuhiro Yamano ◽  
Yasuo Nasu
Keyword(s):  
Humanoid Robot ◽  
Robot Navigation ◽  
Biped Locomotion ◽  
Speed Up

scholarly journals Optimal Gait Generation in Biped Locomotion of Humanoid Robot to Improve Walking Speed

Biped Robots ◽  
10.5772/13871 ◽  
2011 ◽  
Author(s):  
Hanafiah Yussof ◽  
Mitsuhiro Yamano ◽  
Yasuo Nasu ◽  
Masahiro Ohk
Keyword(s):  
Humanoid Robot ◽  
Walking Speed ◽  
Biped Locomotion ◽  
Gait Generation ◽  
Optimal Gait

Fast and accurate humanoid robot navigation guided by stereovision

2009 ◽  
Author(s):  
Chen Guod ◽  
Ming Xie ◽  
Zeyang Xia ◽  
Lining Sun ◽  
Junhong Ji ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Robot Navigation

Dynamical Model of Walking Transition Considering Nonlinear Friction with Floor

2016 ◽  
Vol 20 (6) ◽  
pp. 974-982 ◽  
Author(s):  
Xiang Li ◽  
◽  
Hiroki Imanishi ◽  
Mamoru Minami ◽  
Takayuki Matsuno ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Dynamical Equation ◽  
Control Method ◽  
Dynamical Model ◽  
Reliable Control ◽  
Biped Locomotion ◽  
Nonlinear Friction ◽  
View Point ◽  
Zero Moment Point ◽  
Zero Moment

Biped locomotion created by a controller based on Zero-Moment Point (ZMP) known as reliable control method looks different from human’s walking on the view point that ZMP-based walking does not include falling state, and it’s like monkey walking because of knee-bended walking profiles. However, the walking control that does not depend on ZMP is vulnerable to turnover. Therefore, keeping the event-driven walking of dynamical motion stable is important issue for realization of human-like natural walking. In this research, a walking model of humanoid robot including slipping, bumping, surface-contacting and line-contacting of foot is discussed, and its dynamical equation is derived by the Extended NE method. In this paper we introduce the humanoid model which including the slipping foot and verify the model.

scholarly journals Humanoid Robot Navigation Based on Groping Locomotion Algorithm to Avoid an Obstacle

10.5772/4682 ◽  
2006 ◽  
Author(s):  
Hanafiah Yussof ◽  
Mitsuhiro Yamano ◽  
Yasuo Nasu ◽  
Masahiro Ohk
Keyword(s):  
Humanoid Robot ◽  
Robot Navigation
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