scholarly journals Biped Walking of a Humanoid Robot for Argentina Tango

2016 ◽  
Vol 13 (4) ◽  
pp. 52-58
Author(s):  
Doo-Sung Ahn
Keyword(s):  
Humanoid Robot ◽  
Biped Walking

EXPERIMENTAL REALIZATION OF DYNAMIC STAIR CLIMBING AND DESCENDING OF BIPED HUMANOID ROBOT, HUBO

2009 ◽  
Vol 06 (02) ◽  
pp. 205-240 ◽  
Author(s):  
JUNG-YUP KIM ◽  
ILL-WOO PARK ◽  
JUN-HO OH
Keyword(s):  
Control Strategy ◽  
High Performance ◽  
Humanoid Robot ◽  
Stair Climbing ◽  
Control Technique ◽  
Experimental Realization ◽  
Biped Walking ◽  
Switching Control Strategy ◽  
Stair Walking ◽  
And Performance

In this paper, dynamic stair climbing and descending are experimentally realized for a biped humanoid robot, HUBO. Currently, in addition to biped walking on the ground, other types of biped walking such as running, jogging, and stair walking (climbing and descending) have been also studied since the end of 1990. In spite of many years of research works on stair walking, it is still a challengeable topic that requires high performance of control technique. For dynamic stair walking, we designed stair climbing and descending patterns according to a known stair configuration. Next, we defined stair climbing and descending stages for a switching control strategy. In each stage, we designed and adopted several online controllers to maintain the balance. For the simplicity and easy application, the online controllers only use the force and torque signals of the force/torque sensors of the feet. Finally, the effectiveness and performance of the proposed strategy are verified through stair climbing and descending experiments of HUBO.

A DETERMINISTIC WAY OF PLANNING AND CONTROLLING BIPED WALKING OF LOCH HUMANOID ROBOT

2008 ◽  
Author(s):  
M. XIE ◽  
Z. W. ZHONG ◽  
L. ZHANG ◽  
L. B. XIAN ◽  
L. WANG ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Biped Walking

Realization of Robust and Stretched-Knee Biped Walking for a Humanoid Robot:

2018 ◽  
Vol 2018 (0) ◽  
pp. 2A2-G08
Author(s):  
Kim-Ngoc-Khanh NGUYEN ◽  
Yuta KOJIO ◽  
Shintaro NODA ◽  
Fumihito SUGAI ◽  
Shunichi NOZAWA ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Biped Walking

Novel Design of Biped Robot Using Cable Differential Joint

2012 ◽  
Vol 479-481 ◽  
pp. 2307-2310 ◽  
Author(s):  
Hui Wei ◽  
Mei Shuai ◽  
Zhong Yu Wang
Keyword(s):  
Energy Consumption ◽  
Power Consumption ◽  
Lower Energy ◽  
Humanoid Robot ◽  
Biped Robot ◽  
Peak Torque ◽  
Differential Mode ◽  
Biped Walking ◽  
Human Energy ◽  
Novel Design

In this paper, a novel design of cable differential joint for biped robot is proposed. The transmission of joint is cable and operates in differential mode. Then, cable differential joints are employed to the humanoid robot BHLEG for its torque redistribution, 3-Degree of Freedom (DOF) cable differential joint for hip, one DOF joint for knee, and 2-DOF cable differential joint for ankle. According to the distribution of human energy, torque redistribution of cable differential joint can reduce the power consumption of actuator. Simultaneously, the peak torque and size of actuator is reduced. The aim of this paper is to verify a simplest mechanism for biped walking with lower energy consumption.

scholarly journals The Rh-1 Full-Size Humanoid Robot: Design, Walking Pattern Generation and Control

2009 ◽  
Vol 6 (3-4) ◽  
pp. 301-344 ◽  
Author(s):  
M. Arbulú ◽  
D. Kaynov ◽  
L. Cabas ◽  
C. Balaguer
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Inverse Dynamics ◽  
Mechanical Design ◽  
Pattern Generation ◽  
Software Architectures ◽  
Second Phase ◽  
Structural Behaviour ◽  
Biped Walking

This paper is an overview of the humanoid robot Rh-1, the second phase of the Rh project, which was launched by the Robotics Lab at the Carlos III University of Madrid in 2002. The robot mechanical design includes the specifications development in order to construct a platform, which is capable of stable biped walking. At first, the robots’ weights were calculated in order to obtain the inverse dynamics and to select the actuators. After that, mechanical specifications were introduced in order to verify the robot’s structural behaviour with different experimental gaits. In addition, an important aspect is the joints design when their axes are crossed, which is called ‘Joints of Rectangular Axes’ (JRA). The problem with these joints is obtaining two or more degrees of freedom (DOF) in small space. The construction of a humanoid robot also includes the design of hardware and software architectures. The main advantage of the proposed hardware and software architectures is the use of standardised solutions frequently used in the automation industry and commercially available hardware components. It provides scalability, modularity and application of standardised interfaces and brings the design of the complex control system of the humanoid robot out of a closed laboratory to industry. Stable walking is the most essential ability for the humanoid robot. The three dimensional Linear Inverted Pendulum Model (3D-LIPM) and the Cart-table models had been used in order to achieve natural and dynamic biped walking. Humanoid dynamics is widely simplified by concentrating its mass in the centre of gravity (COG) and moving it following the natural inverted pendulum laws (3D-LIPM) or by controlling the cart motion (Cart-table model). An offline-calculated motion pattern does not guarantee the walking stability of the humanoid robot. Control architecture for the dynamic humanoid robot walking was developed, which is able to make online modifications of the motion patterns in order to adjust it to the continuously changing environment. Experimental results concerning biped locomotion of the Rh-1 humanoid robot are presented and discussed.

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