Biologically Inspired Control System for 3-D Locomotion of a Humanoid Biped Robot

2016 ◽  
Vol 46 (7) ◽  
pp. 898-911 ◽  
Author(s):  
Azhar Aulia Saputra ◽  
Janos Botzheim ◽  
Indra Adji Sulistijono ◽  
Naoyuki Kubota
Keyword(s):  
Control System ◽  
Biped Robot ◽  
Biologically Inspired ◽  
Biologically Inspired Control

Gait Transition Control of a Biped Robot from Quadrupedal to Bipedal Locomotion Based on Central Pattern Generator, Phase Resetting, and Kinematic Synergy

2013 ◽  
pp. 11-24
Author(s):  
Shinya Aoi
Keyword(s):  
Control System ◽  
Central Pattern Generator ◽  
Biped Robot ◽  
Pattern Generator ◽  
Bipedal Locomotion ◽  
Phase Resetting ◽  
Gait Transition ◽  
Gait Patterns ◽  
Transition Control ◽  
The Stability

Recently, interest in the study of legged robots has increased, and various gait patterns of the robots have been established. However, unlike humans and animals, these robots still have difficulties in achieving adaptive locomotion, and a huge gap remains between them. This chapter deals with the gait transition of a biped robot from quadrupedal to bipedal locomotion. This gait transition requires drastic changes in the robot posture and the reduction of the number of supporting limbs, so the stability greatly changes during the transition. A locomotion control system is designed to achieve the gait transition based on the physiological concepts of central pattern generator, phase resetting, and kinematic synergy, and the usefulness of this control system is verified by the robot experiment.

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.

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