Related papers: BLUE: A 3D Dynamic Bipedal Robot
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two legs, and passive (unactuated) point feet. The contact between…
A novel kinematically redundant (6+3)-DoF parallel robot is presented in this paper. Three identical 3-DoF RU/2-RUS legs are attached to a configurable platform through spherical joints. With the selected leg mechanism, the motors are…
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…
This paper presents a 3-DOF hopping robot with a human-like lower-limb joint configuration and a flat foot, capable of performing dynamic and repetitive jumping motions. To achieve both high torque output and a large hollow shaft diameter…
We present the design and experimental results of the first 1-DOF, hip-actuated bipedal robot. While passive dynamic walking is simple by nature, many existing bipeds inspired by this form of walking are complex in control, mechanical…
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this…
In this paper, we propose a novel framework on force-and-moment-based Model Predictive Control (MPC) for dynamic legged robots. Specifically, we present a formulation of MPC designed for 10 degree-of-freedom (DoF) bipedal robots using…
Wheel-legged robots combine the advantages of both wheeled robots and legged robots, offering versatile locomotion capabilities with excellent stability on challenging terrains and high efficiency on flat surfaces. However, existing…
Among small-scale mobile robots, multi-modal locomotion can help compensate for limited actuator capabilities. However, supporting multiple locomotion modes or gaits in small terrestrial robots typically requires complex designs with low…
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…
This work presents algorithms for the feedback-stabilised walking of bipedal humanoid robotic platforms, along with the underlying theoretical and sensorimotor frameworks required to achieve it. Bipedal walking is inherently complex and…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
This paper presents the mechatronic design, dynamic modeling, and experimental validation of a three-degree-of-freedom (3-DOF) micro parallel robot featuring a prismatic-spherical (3PS) topology actuated by three Hydraulically Amplified…
Pneumatically-actuated anthropomorphic robots with high degrees of freedom (DOF) offer significant potential for physical human-robot interaction. However, precise control of pneumatic actuators is challenging due to their inherent…
In biomechanics and robotics, elasticity plays a crucial role in enhancing locomotion efficiency and stability. Traditional approaches in legged robots often employ series elastic actuators (SEA) with discrete rigid components, which, while…
Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…
For the majority of tasks performed by traditional serial robot arms, such as bin picking or pick and place, only two or three degrees of freedom (DOF) are required for motion; however, by augmenting the number of degrees of freedom,…
Robots must cost less and be force-controlled to enable widespread, safe deployment in unconstrained human environments. We propose Quasi-Direct Drive actuation as a capable paradigm for robotic force-controlled manipulation in human…
The control of bipedal robotic walking remains a challenging problem in the domains of computation and experiment, due to the multi-body dynamics and various sources of uncertainty. In recent years, there has been a rising trend towards…