Dynamic locomotion for passive-ankle biped robots and humanoids using whole-body locomotion control

Locomotion control of a biped locomotion robot using nonlinear oscillators

This paper proposes the locomotion control system for a biped locomotion robot. The proposed control system is composed of motion generator system and motion control system. Motion generator system is composed of nonlinear oscillators which generate the commanded trajectories of the joints as functions of phases of oscillators. Motion control system is composed of motors with controllers instal...

Sensorimotor Control of Biped Locomotion

Human locomotion is extremely adaptive and robust to changes in environment, body size, and morphology. The control of this highly adaptive system is thought to be performed by central pattern generators , supported by a system of sensorimotor connections called reflexes. Several studies on central pattern generators have been conducted, alone and in concert with reflexes. However, controllers ...

Biped Locomotion: Stability, Analysis and Control

In this paper, researches and advances in biped locomotion are reviewed. A detailed survey is presented describing the various research problems and the approaches reported in the literature to analyze and control biped locomotion. A method of Zero-Moment-Point (ZMP) compensation is discussed to improve the stability of locomotion of a biped which is subjected to disturbances. A compensating to...

Predictive Control for Stable Dynamic Locomotion of Real Humanoid Robots

• Master of Science (August 2012– August 2014) School of Electronic and Computer Engineering, Technical University of Crete, Chania, Greece Research Topic: “Predictive Control for Stable Dynamic Locomotion of Real Humanoid Robots” Supervisor: Associate Prof. Michail G. Lagoudakis Committee: Associate Prof. Aggelos Bletsas, Prof. Athanasios P. Liavas Thesis Grade: 10.0/10.0 Diploma Grade: 10.0/1...

Biorobotic Locomotion: Biped Humanoid Walking using Optimal Control