Toward Intelligent Biped-Humanoids Gaits Generation

An Adaptive Biped Gait Generation Scheme Utilizing Characteristics of Various Gaits

Stable 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...

Using Equilibria and Virtual Holonomic Constraints to Generate Families of Walking Gaits

We present a principled approach to generating walking gaits for pointand curved-feet, underactuated, multi-degreeof-freedom, 2D and 3D biped walkers subject to a biped’s hybrid dynamics and user-defined virtual holonomic constraints (constraints that are enforced through feedback control). Specifically, we combine numerical continuation methods (NCM) and the hybrid zero dynamics (HZD) framewor...

3D parameterized gaits for biped walking

Biped robot control techniques are usually based on the tracking of pre-computed reference trajectories. Therefore, to achieve autonomy in locomotion, it is necessary to store a set of trajectories handling all the possible situations and events the system is susceptible to encounter. This paper presents a method for the generation of walking gaits for biped robots. Theses gaits define locomoti...

Dynamically balanced optimal gaits of a ditch-crossing biped robot

This paper deals with the generation of dynamically balanced gaits of a ditch-crossing biped robot having seven degrees of freedom (DOFs). Three different approaches, namely analytical, neural network (NN)based and fuzzy logic (FL)-based, have been developed to solve the said problem. The former deals with the analytical modeling of the ditch-crossing gait of a biped robot, whereas the latter t...