Design of small power biped robot by load sharing of walking gait

2002 ◽  
Author(s):  
Dong-Jun Kim ◽  
Kab Kim Il ◽  
Y.F. Zheng ◽  
Zengqi Sun ◽  
Fuchun Sun
Keyword(s):  
Biped Robot ◽  
Load Sharing ◽  
Small Power ◽  
Walking Gait

scholarly journals Comparative stable walking gait optimization for small-sized biped robot using meta-heuristic optimization algorithms

2018 ◽  
Vol 40 (4) ◽  
pp. 407-424
Author(s):  
Tran Thien Huan ◽  
Ho Pham Huy Anh
Keyword(s):  
Humanoid Robot ◽  
Differential Evolution Algorithm ◽  
Biped Robot ◽  
The Novel ◽  
Biped Robots ◽  
Walking Gait ◽  
Gait Parameters ◽  
Lift Height ◽  
Evolution Algorithm ◽  
Gait Optimization

This paper proposes a new way to optimize the biped walking gait design for biped robots that permits stable and robust stepping with pre-set foot lifting magnitude. The new meta-heuristic CFO-Central Force Optimization algorithm is initiatively applied to optimize the biped gait parameters as to ensure to keep biped robot walking robustly and steadily. The efficiency of the proposed method is compared with the GA-Genetic Algorithm, PSO-Particle Swarm Optimization and Modified Differential Evolution algorithm (MDE). The simulated and experimental results carried on the prototype small-sized humanoid robot demonstrate that the novel meta-heuristic CFO algorithm offers an efficient and stable walking gait for biped robots with respect to a pre-set of foot-lift height value.

scholarly journals Online Biped Walking Pattern Generation with Contact Consistency

2015 ◽  
Vol 4 (1) ◽  
pp. 19
Author(s):  
Wenqi Hou ◽  
Jian Wang ◽  
Jianwen Wang ◽  
Hongxu Ma
Keyword(s):  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Task Space ◽  
Biped Walking ◽  
Foot Placement ◽  
Walking Gait ◽  
Walking Pattern ◽  
Generating Method ◽  
Stable Periodic

In this paper, a novel online biped walking gait pattern generating method with contact consistency is proposed. Generally, it’s desirable that there is no foot-ground slipping during biped walking. By treating the hip of the biped robot as a linear inverted pendulum (LIP), a foot placement controller that takes the contact consistency into account is proposed to tracking the desired orbit energy. By selecting the hip’s horizontal locomotion as the parameter, the trajectories in task space for walking are planned. A task space controller without calculating the inversion of inertial matrix is presented. Simulation experiments are implemented on a virtual 5-link point foot biped robot. The results show the effectiveness of the walking pattern generating method which can realize a stable periodic gait cycle without slipping and falling even suffering a sudden disturbance.

Stable walking control of a 3D biped robot with foot rotation

Robotica ◽  
2013 ◽  
Vol 32 (4) ◽  
pp. 551-570 ◽  
Author(s):  
Ting Wang ◽  
Christine Chevallereau ◽  
David Tlalolini
Keyword(s):  
Linear Combination ◽  
Biped Robot ◽  
Control Law ◽  
Reference Trajectory ◽  
Joint Angles ◽  
Flat Foot ◽  
Loop Control ◽  
Walking Gait ◽  
Initial Errors ◽  
Rotation Phase

SUMMARYIn order to obtain a more human-like walking and less energy consumption, ait foot rotation phaseis considered in the single support phase of a 3D biped robot, in which the stance heel lifts from the ground and the stance foot rotates about the toe. Since there is no actuation at the toe, a walking phase of the robot is composed of a fully actuated phase and an under-actuated phase. The objective of this paper is to present an asymptotically stable walking controller that integrates these two phases. To get around the under-actuation issue, a strict monotonic parameter of the robot is used to describe the reference trajectory instead of using the time parameter. The overall control law consists of a zero moment point (ZMP) controller, a swing ankle rotation controller and a partial joint angles controller. The ZMP controller guarantees that the ZMP follows the desired ZMP. The swing ankle rotation controller assures a flat-foot impact at the end of the swinging phase. Each of these controllers creates two constraints on joint accelerations. In order to determine all the desired joint accelerations from the control law, a partial joint angles controller is implemented. A word “partial” emphasizes the fact that not all the joint angles can be controlled. The outputs controlled by a partial joint angles controller are defined as a linear combination of all the joint angles. The most important question addressed in this paper is how this linear combination can be defined in order to ensure walking stability. The stability of the walking gait under closed-loop control is evaluated with the linearization of the restricted Poincaré map of the hybrid zero dynamics. Finally, simulation results validate the effectiveness of the control law even in presence of initial errors and modelling errors.

A novel online gait optimization approach for biped robots with point-feet

2019 ◽  
Vol 25 ◽  
pp. 81
Author(s):  
Majid Anjidani ◽  
M.R. Jahed Motlagh ◽  
M. Fathy ◽  
M. Nili Ahmadabadi
Keyword(s):  
Learning Algorithm ◽  
Biped Robot ◽  
Optimization Method ◽  
Optimization Approach ◽  
Loop Model ◽  
Modeling Error ◽  
Environment Change ◽  
Biped Robots ◽  
Walking Gait ◽  
New Situation

Designing a stable walking gait for biped robots with point-feet is stated as a constrained nonlinear optimization problem which is normally solved by an offline numerical optimization method. On the result of an unknown modeling error or environment change, the designed gait may be ineffective and an online gait improvement is impossible after the optimization. In this paper, we apply Generalized Path Integral Stochastic Optimal Control to closed-loop model of planar biped robots with point-feet which leads to an online Reinforcement Learning algorithm to design the walking gait. We study the ability of the proposed method to adapt the controller of RABBIT, which is a planar biped robot with point-feet, for stable walking. The simulation results show that the method, starting a dynamically unstable initial gait, quickly compensates the modeling error and reaches to a walking with exponential stability and desired features in a new situation which was impossible by the past methods.

Optimal control for stable walking gait of a biped robot

2017 ◽  
Author(s):  
Nhat Dang Khoa Nguyen ◽  
Ba Long Chu ◽  
Van Tien Anh Nguyen ◽  
Van Hien Nguyen ◽  
Tan Tien Nguyen
Keyword(s):  
Optimal Control ◽  
Biped Robot ◽  
Walking Gait

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.

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