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

Design of a stabilizing controller for a ten-degree-of-freedom bipedal robot using linear quadratic regulator theory

2001 ◽  
Vol 215 (1) ◽  
pp. 27-43
Author(s):  
D Akdas ◽  
G A Medrano-Cerda
Keyword(s):  
Control System ◽  
Linear Quadratic Regulator ◽  
Biped Robot ◽  
Degree Of Freedom ◽  
Linear Quadratic ◽  
External Disturbances ◽  
Linear Quadratic Optimal Control ◽  
Stabilizing Controller ◽  
Double Support ◽  
Stabilizing Controllers

This paper considers the design and evaluation of stabilizing controllers for a ten-degree-of-freedom (10 DOF) biped robot using linear quadratic optimal control techniques and reduced-order observers. The controllers are designed using approximate planar dynamical models for the sagittal and lateral planes. Experiments were carried out to test the control system when the biped robot was in the double-support phase and the robot was subject to external disturbances. Although the control system is based on single-support models, the experimental results have shown that the robot successfully kept its given posture under disturbances.

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.

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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