scholarly journals A Bio-Robotic Toe & Foot & Heel Models of a Biped Robot for More Natural Walking: Foot Mechanism & Gait Pattern

Biped Robots ◽  
10.5772/14959 ◽  
2011 ◽  
Author(s):  
Jungwon Yoon ◽  
Gabsoon Kim ◽  
Nandha Handharu ◽  
Abdullah zer
Keyword(s):  
Biped Robot ◽  
Gait Pattern

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.

Sequential Sensor Fusion-Based Real-Time LSTM Gait Pattern Controller for Biped Robot

2021 ◽  
Vol 21 (2) ◽  
pp. 2241-2255 ◽  
Author(s):  
Tzuu-Hseng S. Li ◽  
Ping-Huan Kuo ◽  
Chuan-Han Cheng ◽  
Chia-Ching Hung ◽  
Po-Chien Luan ◽  
...  
Keyword(s):  
Real Time ◽  
Sensor Fusion ◽  
Biped Robot ◽  
Gait Pattern

An Operationally Optimized Seven Link Biped Robot Moving on Slopes

2013 ◽  
Author(s):  
Peiman Naseradinmousavi
Keyword(s):  
Simulated Annealing Algorithm ◽  
Nonlinear Modeling ◽  
Biped Robot ◽  
Gait Pattern ◽  
Critical Parameters ◽  
Modeling Process ◽  
Operational Optimization ◽  
Ankle Joints ◽  
Annealing Algorithm ◽  
The Stability

In this paper, we discuss operational optimization of a seven link biped robot using the well-known “Simulated Annealing” algorithm. Some critical parameters affecting the robot gait pattern are selected to be optimized reducing the total energy used. Nonlinear modeling process we published elsewhere is shown here for completeness. The trajectories of both the hip and ankle joints are used to plan the robot gait on slopes and undoubtedly those parameters would be the target ones for the optimization process. The results we obtained reveal considerable amounts of the energy saved for both the ascending and descending surfaces while keeping the robot stable. The stability criterion we utilized for both the modeling and then optimization is “Zero Moment Point”. A comparative study of human evolutionary gait and the operationally optimized robot is also presented.

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.

A Surrogate Model Based Gait Learning for Biped Robot

2013 ◽  
Vol 433-435 ◽  
pp. 138-145
Author(s):  
Ding Sheng Luo ◽  
Yi Wang ◽  
Xi Hong Wu
Keyword(s):  
Surrogate Model ◽  
Learning Algorithm ◽  
Biped Robot ◽  
Gait Pattern ◽  
Simulation Platform ◽  
Model Based ◽  
Simulation Based ◽  
Real Robot ◽  
Gait Learning ◽  
Learning Trials

Gait learning is usually under a so-called simulation based framework, where a simulation platform is firstly setup, and then based on which the gait pattern is learned via some learning algorithm. For the reason that there exist big differences between simulation platform and real circumstances, an additional adapting procedure is always required when learned gait pattern is applied to a real robot. This case turns out to be more critical for a biped robot, because its control appears more difficult than others, such as a quadruped robot. This leads the new scheme that the gait is directly learned on real robot to be attractive. However, under this real robot based learning scheme, most of those learning algorithms that commonly used under simulation based framework appear to be trivial, since they always needs too many learning trials which may wear out the robot hardware. Faced to this situation, in this paper, a surrogate model based gait learning approach for biped robot is proposed. And the experimental results on a real humanoid robot PKU-HR3 show the effectiveness of the proposed approach.

Torso pitch motion effects on walking gait for biped robots

2021 ◽  
pp. 1-11
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li ◽  
Yufeng He
Keyword(s):  
Energy Consumption ◽  
Biped Robot ◽  
Gait Pattern ◽  
Optimization Criterion ◽  
Pattern Generation ◽  
Biped Robots ◽  
Unit Distance ◽  
Pitch Motion ◽  
Walking Gait ◽  
Gait Parameters

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait pattern generation method, it is usually assumed that the torso remains vertial during walking. It is very intuitive and simple. However, is the gait pattern of keeping the torso vertical the most efficient? This paper presents a gait pattern in which the torso has pitch motion during walking. We define the cyclic gait of a seven-link biped robot with multiple gait parameters. The gait parameters are determined by optimization. The optimization criterion is choosen to minimize the energy consumption per unit distance of the biped robot. In order to compare the energy consumption of the proposed gait pattern with the one of torso vertical gait pattern, we generate two sets of optimal gait with various walking step lengths and walking periods. The results show that the proposed gait pattern is more energy-efficiency than the torso vertical gait pattern.

Sign in / Sign up

Export Citation Format

Share Document