相关论文: Polynomial trajectory algorithm for a biped robot
In this chapter we will highlight our experimental studies on natural human walking analysis and introduce a biologically inspired design for simple bipedal locomotion system of humanoid robots. Inspiration comes directly from human walking…
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 describes a topological approach to generating families of open- and closed-loop walking gaits for underactuated 2D and 3D biped walkers subject to configuration inequality constraints, physical holonomic constraints…
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…
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…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Step adjustment can improve the gait robustness of biped robots, however the adaptation of step timing is often neglected as it gives rise to non-convex problems when optimized over several footsteps. In this paper, we argue that it is not…
This paper presents a framework that leverages both control theory and machine learning to obtain stable and robust bipedal locomotion without the need for manual parameter tuning. Traditionally, gaits are generated through trajectory…
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,…
Safe path planning is critical for bipedal robots to operate in safety-critical environments. Common path planning algorithms, such as RRT or RRT*, typically use geometric or kinematic collision check algorithms to ensure collision-free…
Traditional one-step preview planning algorithms for bipedal locomotion struggle to generate viable gaits when walking across terrains with restricted footholds, such as stepping stones. To overcome such limitations, this paper introduces a…
Accurate control of a humanoid robot's global position (i.e., its three-dimensional position in the world) is critical to the reliable execution of high-risk tasks such as avoiding collision with pedestrians in a crowded environment. This…
To generate reliable motion for legged robots through trajectory optimization, it is crucial to simultaneously compute the robot's path and contact sequence, as well as accurately consider the dynamics in the problem formulation. In this…
Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient locomotion on various terrains and velocities. While…
Trajectory optimization is an essential tool for generating efficient, dynamically consistent gaits in legged locomotion. This paper explores the indirect method of trajectory optimization, emphasizing its application in creating optimal…
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…
The problem of navigating a bipedal robot to a desired destination in various environments is very important. However, it is very difficult to solve the navigation problem in real time because the computation time is very long due to the…
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…
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 trying to build humanoid robots that perform useful tasks in a world built for humans, we address the problem of autonomous locomotion. Humanoid robot planning and control algorithms for walking over rough terrain are becoming…