scholarly journals Learning of Sub-optimal Gait Controllers for Magnetic Walking Soft Millirobots

2020 ◽  
Author(s):  
Utku Culha ◽  
Sinan Ozgun Demir ◽  
Sebastian Trimpe ◽  
Metin Sitti
Keyword(s):  
Optimal Gait

scholarly journals 3D Reconstruction of Pedestrian Trajectory with Moving Direction Learning and Optimal Gait Recognition

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Binbin Wang ◽  
Tingli Su ◽  
Xuebo Jin ◽  
Jianlei Kong ◽  
Yuting Bai
Keyword(s):  
Learning Algorithm ◽  
Gait Recognition ◽  
Vertical Direction ◽  
Recognition Algorithm ◽  
Measurement Unit ◽  
Complex Environments ◽  
Position Change ◽  
Vertical Movements ◽  
Moving Direction ◽  
Optimal Gait

An inertial measurement unit-based pedestrian navigation system that relies on the intelligent learning algorithm is useful for various applications, especially under some severe conditions, such as the tracking of firefighters and miners. Due to the complexity of the indoor environment, signal occlusion problems could lead to the failure of certain positioning methods. In complex environments, such as those involving fire rescue and emergency rescue, the barometric altimeter fails because of the influence of air pressure and temperature. This paper used an optimal gait recognition algorithm to improve the accuracy of gait detection. Then a learning-based moving direction determination method was proposed. With the Kalman filter and a zero-velocity update algorithm, different gaits could be accurately recognized, such as going upstairs, downstairs, and walking flat. According to the recognition results, the position change in the vertical direction could be reasonably corrected. The obtained 3D trajectory involving both horizontal and vertical movements has shown that the accuracy is significantly improved in practical complex environments.

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

scholarly journals The Relationship of the Optimal Gait Pattern with Energy Cost upon Ankle Immobilization

2015 ◽  
Vol 18 (1) ◽  
pp. 53-53
Author(s):  
Kazuki TAKAHASHI ◽  
Toru NISHIYAMA ◽  
Jun ONOBE ◽  
Hiroto SUZUKI ◽  
Hiroyuki FUJISAWA
Keyword(s):  
Energy Cost ◽  
Gait Pattern ◽  
Optimal Gait ◽  
Relationship Of ◽  
The Relationship

Optimal gait and form for animal locomotion

2009 ◽  
Vol 28 (3) ◽  
pp. 1-8 ◽  
Author(s):  
Kevin Wampler ◽  
Zoran Popović
Keyword(s):  
Animal Locomotion ◽  
Optimal Gait

The Study on Optimal Gait for Five-Legged Robot with Reinforcement Learning

2009 ◽  
pp. 1170-1175 ◽  
Author(s):  
Adnan Rachmat Anom Besari ◽  
Ruzaidi Zamri ◽  
Anton Satria Prabuwono ◽  
Son Kuswadi
Keyword(s):  
Reinforcement Learning ◽  
Legged Robot ◽  
Optimal Gait

Optimal Gait Design for Systems With Drift on SO(3)

2013 ◽  
Author(s):  
Matthew Travers ◽  
Howie Choset
Keyword(s):  
Angular Momentum ◽  
Control Method ◽  
Three Dimensional ◽  
Free Flight ◽  
Gait Generation ◽  
Geometric Methods ◽  
Wide Range ◽  
Optimal Gait ◽  
Computational Reduction ◽  
Inertial Systems

Geckos that jump, cats that fall, and satellites that are inertially controlled fundamentally locomote in the same way. These systems are bodies in free flight that actively reorientate under the influence of conservation of angular momentum. We refer to such bodies as inertial systems. This work presents a novel control method for inertial systems with drift that combines geometric methods and computational control. In previous work, which focused on inertial systems starting from rest, a set of visual tools was developed that readily allowed on to design gaits. A key insight of this work was deriving coordinates, called minimum perturbation coordinates, which allowed the visual tools to be applied to the design of a wide range of motions. This paper draws upon the same insight to show that it is possible to approximately analyze the kinematic and dynamic contributions to net motion independently. This approach is novel because it uses geometric tools to support computational reduction in automatic gait generation on three-dimensional spaces.

Energy-optimal gait analysis of quadruped robots

2002 ◽  
Vol 6 (3) ◽  
pp. 120-125 ◽  
Author(s):  
Kazuo Kiguchi ◽  
Yukihiro Kusumoto ◽  
Keigo Watanabe ◽  
Kiyotaka Izumi ◽  
Toshio Fukuda
Keyword(s):  
Gait Analysis ◽  
Quadruped Robots ◽  
Optimal Gait

Optimal Gait Synthesis of a Seven-Link Planar Biped

2004 ◽  
Vol 23 (10-11) ◽  
pp. 1059-1073 ◽  
Author(s):  
Guy Bessonnet ◽  
Stéphane Chessé ◽  
Philippe Sardain
Keyword(s):  
Gait Synthesis ◽  
Optimal Gait

Optimal gait planning for humanoids with 3D structure walking on slippery surfaces

Robotica ◽  
2015 ◽  
Vol 35 (3) ◽  
pp. 569-587 ◽  
Author(s):  
Majid Khadiv ◽  
S. Ali A. Moosavian ◽  
Aghil Yousefi-Koma ◽  
Majid Sadedel ◽  
Saeed Mansouri
Keyword(s):  
Coefficient Of Friction ◽  
Humanoid Robot ◽  
3D Structure ◽  
Optimization Procedure ◽  
Pattern Generation ◽  
Friction Forces ◽  
Gait Planning ◽  
Walking Pattern ◽  
Planning Procedure ◽  
Optimal Gait

SUMMARYIn this study, a gait optimization routine is developed to generate walking patterns which demand the lowest friction forces for implementation. The aim of this research is to fully address the question “which walking pattern demands the lowest coefficient of friction amongst all feasible patterns?”. To this end, first, the kinematic structure of the considered 31 DOF (Degrees of Freedom) humanoid robot is investigated and a closed-form dynamics model for its lower-body is developed. Then, the medium through which the walking pattern generation is conducted is presented. In this medium, after designing trajectories for the feet and the pelvis, the joint space variables are obtained, using the inverse kinematics. Finally, by employing a genetic algorithm (GA), an optimization process is conducted to generate walking patterns with the minimum Required Coefficient Of Friction (RCOF). Six parameters are adopted to parameterize the pelvis trajectory and are exploited as the design variables in this optimization procedure. Also, a parametrical study is accomplished to address the effects of some other variables on RCOF. For comparison purposes, a tip-over Stability Margin (SM) is defined, and an optimization procedure is conducted to maximize this margin. Finally, the proposed gait planning procedure is implemented on SURENA III, a humanoid robot designed and fabricated in CAST, to validate the developed simulation procedure. The obtained results reveal merits of the proposed optimal gait planning procedure in terms of RCOF.

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