Development of Biped Soft Robot with Nail (Turn Using Nail and Stopper for Biped Soft Robot)
نویسندگان
چکیده
منابع مشابه
Development of the Modeling for Biped Robot using Inverse Kinematics
Abstract: The legged robot can only walk very similar to human walking pattern. Therefore, many robots have been researched and developed in recent years. However, the biped robots still have many issues for the natural human walking in terms of the redundant degree of freedom, complexity of the kinematics, and stability. In this paper, we have described our biped robot modeling in the forward ...
متن کاملReinforcement Learning for Biped Robot
Animal rhythmic movements such as locomotion are considered to be controlled by neural circuits called central pattern generators (CPGs), which generate oscillatory signals. Motivated by such a biological mechanisms, rhythmic movements controlled by CPG has been studied. As an autonomous learning framework for the CPG controller, we propose an reinforcement learning method , which is called the...
متن کاملStable Gait Planning and Robustness Analysis of a Biped Robot with One Degree of Underactuation
In this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. Stability conditions are derived by studying unactuated dynamics and using the Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...
متن کاملDesign of a Biped Robot
The design of a simple biped robot primarily involves the control of balance. Controlling the direction of balance for a two legged walking robot typically means mimicking the human form and its walking locomotion. Even though the human locomotion approach is taken as the ultimate reference, gaits can be developed using less sophisticated methods. The ultimate aim is to maintain an upright tors...
متن کاملOptimized Joint Trajectory Model with Customized Genetic Algorithm for Biped Robot Walk
Biped robot locomotion is one of the active research areas in robotics. In this area, real-time stable walking with proper speed is one of the main challenges that needs to be overcome. Central Pattern Generators (CPG) as one of the biological gait generation models, can produce complex nonlinear oscillation as a pattern for walking. In this paper, we propose a model for a biped robot joint tra...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 2013
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.79.4831