Related papers: A solvable walking model for a two-legged robot
Legged robots have demonstrated high efficiency and effectiveness in unstructured and dynamic environments. However, it is still challenging for legged robots to achieve rapid and efficient locomotion on deformable, yielding substrates,…
In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…
In this paper, we holistically present a Hybrid-Linear Inverted Pendulum (H-LIP) based approach for synthesizing and stabilizing 3D foot-underactuated bipedal walking, with an emphasis on thorough hardware realization. The H-LIP is proposed…
This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact…
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…
We present a real-time pattern generator for dynamic walking over rough terrains. Our method automatically finds step durations, a critical issue over rough terrains where they depend on terrain topology. To achieve this level of…
Bipedal robots adapt to the environment of the modern society due to the similarity of movement to humans, and therefore they are a good partner for humans. However, maintaining the stability of these robots during walking/running motion is…
Gait control of legged robotic walkers on dynamically moving surfaces (e.g., ships and vehicles) is challenging due to the limited balance control actuation and unknown surface motion. We present a contingent model predictive control (CMPC)…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
A vast number of applications for legged robots entail tasks in complex, dynamic environments. But these environments put legged robots at high risk for limb damage. This paper presents an empirical study of fault tolerant dynamic gaits…
Bipedal locomotion is a phenomenon that still eludes a fundamental and concise mathematical understanding. Conceptual models that capture some relevant aspects of the process exist but their full explanatory power is not yet exhausted. In…
Humans are efficient, yet expressive in their motion. Human walking behaviors can be used to walk across a great variety of surfaces without falling and to communicate internal state to other humans through variable gait styles. This…
In this paper we exploit some interesting properties of a class of bipedal robots which have an inertial disc. One of this properties is the ability to control every position and speed except for the disc position. The proposed control is…
Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvestigated. This paper introduces a hierarchical control…
Pivoting gait is efficient for manipulating a big and heavy object with relatively small manipulating force, in which a robot iteratively tilts the object, rotates it around the vertex, and then puts it down to the floor. However, pivoting…
A new control paradigm using angular momentum and foot placement as state variables in the linear inverted pendulum model has expanded the realm of possibilities for the control of bipedal robots. This new paradigm, known as the ALIP model,…
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…
Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as flat and stiff pieces of metal, which meets its limitations…
Available possibilities to prevent a biped robot from falling down in the presence of severe disturbances are mainly Center of Pressure (CoP) modulation, step location and timing adjustment, and angular momentum regulation. In this paper,…
In this paper, we present an energy-conservation based control architecture for stable dynamic motion in quadruped robots. We model the robot as a Spring-loaded Inverted Pendulum (SLIP), a model well-suited to represent the bouncing motion…