Related papers: Bipedal locomotion using geometric techniques
Generating robust locomotion for a humanoid robot in the presence of disturbances is difficult because of its high number of degrees of freedom and its unstable nature. In this paper, we used the concept of Divergent Component of…
In this paper, a simple trajectory generation method for biped walking is proposed. The dynamic model of the five link bipedal robot is first reduced using several biologically inspired assumptions. A sinusoidal curve is then imposed to the…
The present research as described in this paper tries to impart how imitation based learning for behavior-based programming can be used to teach the robot. This development is a big step in way to prove that push recovery is a software…
In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In particular, we propose a new control pipeline, wherein the high-level trajectory modulator shapes the…
In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary to account for sustained or alternating external forces other than ground-feet reaction, resulting from humanoid-object…
With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…
We present a theoretical analysis of a recent whole body motion planning method, the Randomized Possibility Graph, which uses a high-level decomposition of the feasibility constraint manifold in order to rapidly find routes that may lead to…
Inverse Kinematics (IK) remains a dynamic field of research, with various methods striving for speed and precision. Despite advancements, many IK techniques face significant challenges, including high computational demands and the risk of…
For humanoids to be deployed in demanding situations, such as search and rescue, highly intelligent decision making and proficient sensorimotor skill is expected. A promising solution is to leverage human prowess by interconnecting robot…
Teaching an anthropomorphic robot from human example offers the opportunity to impart humanlike qualities on its movement. In this work we present a reinforcement learning based method for teaching a real world bipedal robot to perform…
To overcome the obstructions imposed by high-dimensional bipedal models, we embed a stable walking motion in an attractive low-dimensional surface of the system's state space. The process begins with trajectory optimization to design an…
This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails high computational cost and execution time or the development…
We propose a simple mechanical model of locomotion induced by internal force and friction. We first construct a system of two elements as an analog of the bipedal motion. The internal force does not induce a directional motion by itself…
In this research, we have developed the data driven computational walking model to overcome the problem with traditional kinematics based model. Our model is adaptable and can adjust the parameter morphological similar to human. The human…
Geometric motion planning offers effective and interpretable gait analysis and optimization tools for locomoting systems. However, due to the curse of dimensionality in coordinate optimization, a key component of geometric motion planning,…
We present a framework to generate periodic trajectory references for a 3D under-actuated bipedal robot, using a linear inverted pendulum (LIP) based controller with adaptive neural regulation. We use the LIP template model to estimate the…
The realization space of geometric constraint systems is given by the vanishing locus of polynomials corresponding to natural geometric constraints. Such geometric constraint systems arise in many real-world scenarios such as structural…
This work presents a three-dimensional geometric resolution method to calculate the complete inverse kinematics of a 7-degree-of-freedom articulated arm, including the hand itself. The method is classified as an analytical method with…
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…