A novel gait generation for biped walking robots based on mechanical energy constraint

2003 ◽  
Author(s):  
F. Asano ◽  
M. Yamakita ◽  
N. Kamamichi ◽  
Z.-W. Luo
Keyword(s):  
Mechanical Energy ◽  
Walking Robots ◽  
Biped Walking ◽  
Gait Generation ◽  
Energy Constraint

scholarly journals Biped Gait Generation and Control Based on Mechanical Energy Constraint

10.5772/4861 ◽  
2007 ◽  
Author(s):  
Fumihiko Asano ◽  
Masaki Yamakita ◽  
Norihiro Kamamichi ◽  
Zhi-Wei Luo
Keyword(s):  
Mechanical Energy ◽  
Gait Generation ◽  
Energy Constraint ◽  
And Control

scholarly journals Strategies for Recovery and Maintain of A Biped Walking Robot Balance

2018 ◽  
Vol 7 (2.28) ◽  
pp. 123
Author(s):  
N Pop ◽  
L Vladareanu ◽  
H Wang ◽  
M Ungureanu ◽  
M Migdalovici ◽  
...  
Keyword(s):  
Sagittal Plane ◽  
Golden Section ◽  
Walking Robots ◽  
Walking Robot ◽  
Active Joint ◽  
External Disturbances ◽  
Biped Walking ◽  
Nao Robot ◽  
Biped Walking Robot

Recovering and maintaining the balance of the biped walking robots play an important role in their operation. In this article we will analyze some strategies for balancing in the sagittal plane, in the presence of external disturbances and changing the proportions between leg’s length and trunk’s length (golden section), and/or adding weights (boot type) between the ankle and the knee so that the center of gravity is as low as possible. For equilibrium recovery, we suggest that the biped walking model be equipped with actuator that provides a torque at the hip. or/and at the ankle. The strategy of balance has a goal to move the disturbed system to the desired equilibrium state. We chose to study, the model of a double linear pendulum inverted under-actuated, with one passive and one active joint. Each case study and usage of these strategies is validated by Webots and is applied for NAO robot. 

Simplified Triped Robot for Analysis of Three-Dimensional Gait Generation

2017 ◽  
Vol 29 (3) ◽  
pp. 528-535
Author(s):  
Yoichi Masuda ◽  
◽  
Masato Ishikawa
Keyword(s):  
High Speed ◽  
Force Feedback ◽  
Three Dimensional ◽  
Radial Symmetry ◽  
The Body ◽  
Walking Robots ◽  
Body Structure ◽  
Gait Patterns ◽  
Gait Generation ◽  
Proposed Model

[abstFig src='/00290003/08.jpg' width='230' text='The tripedal robot “Martian petit”' ] Significant efforts to simplify the body structure of multi-legged walking robots have been made over the years. Of these, the Spring-Loaded-Inverted-Pendulum (SLIP) model has been very popular, therefore widely employed in the design of walking robots. In this paper, we develop a SLIP-based tripedal walking robot with a focus on the geometric symmetry of the body structure. The proposed robot possesses a compact, light-weight, and compliant leg modules. These modules are controlled by a distributed control law that consists of decoupled oscillators with only local force feedback. As demonstrated through experiments, the simplified design of the robot makes possible the generation of high-speed dynamic locomotion. Despite the structural simplicity of the proposed model, the generation of several gait-patterns is demonstrated. The proposed minimalistic design approach with radial symmetry simplifies the function of each limb in the three-dimensional gait generation of the robot.

scholarly journals Constrained Quadratic Programming and Neurodynamics-Based Solver for Energy Optimization of Biped Walking Robots

2017 ◽  
Vol 2017 ◽  
pp. 1-15 ◽  
Author(s):  
Liyang Wang ◽  
Ming Chen ◽  
Xiangkui Jiang ◽  
Wei Wang
Keyword(s):  
Energy Consumption ◽  
Quadratic Programming ◽  
Energy Optimization ◽  
Biped Robot ◽  
High Energy ◽  
Walking Robots ◽  
Biped Robots ◽  
Biped Walking ◽  
Joint Torques ◽  
Force Moment

The application of biped robots is always trapped by their high energy consumption. This paper makes a contribution by optimizing the joint torques to decrease the energy consumption without changing the biped gaits. In this work, a constrained quadratic programming (QP) problem for energy optimization is formulated. A neurodynamics-based solver is presented to solve the QP problem. Differing from the existing literatures, the proposed neurodynamics-based energy optimization (NEO) strategy minimizes the energy consumption and guarantees the following three important constraints simultaneously: (i) the force-moment equilibrium equation of biped robots, (ii) frictions applied by each leg on the ground to hold the biped robot without slippage and tipping over, and (iii) physical limits of the motors. Simulations demonstrate that the proposed strategy is effective for energy-efficient biped walking.

Biped Walking Robot Gait Planning Research

2013 ◽  
Vol 706-708 ◽  
pp. 674-677
Author(s):  
Hai Long Chen ◽  
Xiao Wu ◽  
Jun Du ◽  
Jin Ping Tang
Keyword(s):  
Degrees Of Freedom ◽  
Original System ◽  
System Model ◽  
Walking Robots ◽  
Walking Robot ◽  
Transformation Theory ◽  
Biped Walking ◽  
Gait Planning ◽  
Biped Walking Robot ◽  
Build System

This paper uses biped walking robot as the research object, and designs robots original system, based on the requirements of Biped Walking Robot Competition of China. According to the biped walking robots characteristics of multi-joints, many degrees of freedom, multivariable, strong coupling and nonlinearity [, we can build system model using the Denavi - Hartenberg coordinate, describe the system model by the homogeneous coordinate transformation theory, and then plan on system gait based on ZMP stability . Finally, we can solve for the joint trajectory of the system by using computer-aided software.

scholarly journals Dynamic Gait Generation and Control based on Mechanical Energy Restoration

2005 ◽  
Vol 23 (7) ◽  
pp. 821-830 ◽  
Author(s):  
Fumihiko Asano ◽  
Zhi-Wei Luo ◽  
Masaki Yamakita
Keyword(s):  
Mechanical Energy ◽  
Gait Generation ◽  
And Control ◽  
Dynamic Gait
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