scholarly journals Walk Support Shoes by the Principle of the Passive Dynamic Biped Robot Stabilization Using Constraining Foot Shape

2013 ◽  
Vol 37 (1) ◽  
pp. 66-69
Author(s):  
Naoya RIKIISHI ◽  
Manabu SUGAWARA ◽  
Takeru OOMIDOU ◽  
Kazuyuki HYODO ◽  
Sadayoshi MIKAMI
Keyword(s):  
Biped Robot ◽  
Robot Stabilization

Aspects of Lag's 5-Dof a Biped Robot Stabilization

2012 ◽  
Vol 463-464 ◽  
pp. 1193-1196
Author(s):  
Mate Csaba Zoltan ◽  
Faluvegi Erzsebet ◽  
Cristea Luciana
Keyword(s):  
Mobile Robots ◽  
Inverse Kinematics ◽  
Biped Robot ◽  
Stability Study ◽  
Bipedal Robots ◽  
Biped Robots ◽  
The Stability ◽  
Rapid Modeling ◽  
Kinematic Motion ◽  
Robot Stabilization

This paper aims to present special issues concerning the analysis of mobile robots with kinematic motion effects on the stability study. In the analysis, the authors used inverse kinematics, which enables rapid modeling and identifying solutions as regards the stability of bipedal robots. The symbolic solution for kinematics equations of biped robots is of great importance for the efficient controllability of these robots.

Simulation of a four-legged walking robot stabilization system

2020 ◽  
Vol 8 (3) ◽  
pp. 189-197
Author(s):  
Andrey Teteryatnikov ◽  
Alexey Rybakov ◽  
Nikolay Vybornov ◽  
Dmitry Starov
Keyword(s):  
Stabilization System ◽  
Walking Robot ◽  
Robot Stabilization

scholarly journals Optimized stable gait planning of biped robot using multi-objective evolutionary JAYA algorithm

2020 ◽  
Vol 17 (6) ◽  
pp. 172988142097634
Author(s):  
Huan Tran Thien ◽  
Cao Van Kien ◽  
Ho Pham Huy Anh
Keyword(s):  
Inverse Kinematics ◽  
Biped Robot ◽  
Step Length ◽  
Jaya Algorithm ◽  
Kinetic Chain ◽  
Biped Walking ◽  
Gait Planning ◽  
Multi Objective ◽  
Simulation And Experiment ◽  
Stable Gait

This article proposes a new stable biped walking pattern generator with preset step-length value, optimized by multi-objective JAYA algorithm. The biped robot is modeled as a kinetic chain of 11 links connected by 10 joints. The inverse kinematics of the biped is applied to derive the specified biped hip and feet positions. The two objectives related to the biped walking stability and the biped to follow the preset step-length magnitude have been fully investigated and Pareto optimal front of solutions has been acquired. To demonstrate the effectiveness and superiority of proposed multi-objective JAYA, the results are compared to those of MO-PSO and MO-NSGA-2 optimization approaches. The simulation and experiment results investigated over the real small-scaled biped HUBOT-4 assert that the multi-objective JAYA technique ensures an outperforming effective and stable gait planning and walking for biped with accurate preset step-length value.

scholarly journals Effects of Torso Pitch Motion on Energy Efficiency of Biped Robot Walking

2021 ◽  
Vol 11 (5) ◽  
pp. 2342
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Biped Robots ◽  
Pitch Motion ◽  
Double Support ◽  
Gait Parameters ◽  
Support Phase

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait pattern generation methods, it is usually assumed that the torso keeps vertical during walking. It is very intuitive and simple. However, it may not be the most efficient. In this paper, we propose a gait pattern with torso pitch motion (TPM) during walking. We also present a gait pattern with torso keeping vertical (TKV) to study the effects of TPM on energy efficiency of biped robots. We define the cyclic gait of a five-link biped robot with several gait parameters. The gait parameters are determined by optimization. The optimization criterion is chosen to minimize the energy consumption per unit distance of the biped robot. Under this criterion, the optimal gait performances of TPM and TKV are compared over different step lengths and different gait periods. It is observed that (1) TPM saves more than 12% energy on average compared with TKV, and the main factor of energy-saving in TPM is the reduction of energy consumption of the swing knee in the double support phase and (2) the overall trend of torso motion is leaning forward in double support phase and leaning backward in single support phase, and the amplitude of the torso pitch motion increases as gait period or step length increases.

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