Related papers: Biped Stabilization by Linear Feedback of the Vari…
This paper presents an innovative distributed bio-inspired posture control strategy for a humanoid, employing a balance control system DEC (Disturbance Estimation and Compensation). Its inherently modular structure could potentially lead to…
This work explores an innovative algorithm designed to enhance the mobility of underactuated bipedal robots across challenging terrains, especially when navigating through spaces with constrained opportunities for foot support, like steps…
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…
This paper presents VIMPPI, a novel control approach for underactuated double pendulum systems developed for the AI Olympics competition. We enhance the Model Predictive Path Integral framework by incorporating variational integration…
These lectures demonstrate the development of a PID control framework for mechanical systems. Based on the observation that mechanical systems are essentially double integrator systems, we generalize the linear PID controller to mechanical…
Simplified models of the dynamics such as the linear inverted pendulum model (LIPM) have proven to perform well for biped walking on flat ground. However, for more complex tasks the assumptions of these models can become limiting. For…
Bipedal robots have received much attention because of the variety of motion maneuvers that they can produce, and the many applications they have in various areas including rehabilitation. One of these motion maneuvers is walking. In this…
In this paper the investigation is placed on the hierarchic neuro-fuzzy systems as a possible solution for biped control. An hierarchic controller for biped is presented, it includes several sub-controllers and the whole structure is…
The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…
Keeping the stability can be counted as the essential ability of a humanoid robot to step out of the laboratory to work in our real environment. Since humanoid robots have similar kinematic to a human, humans expect these robots to be…
The inverted pendulum is a non-linear unbalanced system that needs to be controlled using motors to achieve stability and equilibrium. The inverted pendulum is constructed with Lego and using the Lego Mindstorm NXT, which is a programmable…
In the present paper we focus our attention on the design of the feedback-based feed-forward controller asymptotically stabilizing the double-pendulum-type crane system with the time-varying rope length in the desired end position of…
The Angular-Momentum Linear Inverted Pendulum (ALIP) model is a promising motion planner for bipedal robots. However, it relies on two assumptions: (1) the robot has point-contact feet or passive ankles, and (2) the angular momentum around…
The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…
Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite the many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This…
Developing robust locomotion for humanoid robots is a complex task due to the unstable nature of these robots and also to the unpredictability of the terrain. A robust locomotion planner is one of the fundamental components for generating…
This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upper body stability. The framework contains a bi-level control…
We introduce novel methods for state estimation, feedforward and feedback control, which specifically target humanoid robots with hardware limitations. Our method combines a five-mass model with approximate dynamics of each mass. It enables…
Spring-mass models are well established tools for the analysis and control of legged locomotion. Among the alternatives, spring-loaded inverted pendulum (SLIP) model has shown to be a very accurate descriptor of animal locomotion. Despite…
Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…