منابع مشابه
Design 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 کاملExperimental Study of Biped Locomotion of Humanoid Robot HRP-1S
We have developed a humanoid robot HRP-1S that can be controlled its whole body motion. In phase one of Humanoid Robotics Project (HRP) of METI of Japan, Honda R&D Co. Ltd. has produced humanoid robots HRP-1 as humanoid research platforms to establish good applications of humanoid robots in phase two of HRP. However HRP-1 is controlled its legs and arms separately, and it is not suitable for so...
متن کاملSpejbl – the Biped Walking Robot
Construction of a biped walking robot, its hardware, basic software and control design is presented. Primary goal achieved is a static walking with non-instantaneous double support phase and fixed trajectory in joint coordinates. The robot with two legs and no upper body is capable to walk with fixed, manually created, static trajectory using simple SISO proportional controller, yet it is exten...
متن کاملThe Anthropomorphic Biped Robot BIP2000
This paper describes the progress of the BIP2000 project. This project, in which four laboratories are involved fo r 4 years, as uimed at the realization of the lower part of a n anthropomorphic biped robot. The project couers mechanical design, control studies and computer architecture integration. The robot includes two legs, two feet, a pelvis and U trunk. It has 15 active joints. The mass d...
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...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2009
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.27.96