The article deals with the design of a robot an unconventional kinematic structure, which is able to vertically stabilize position base for placement sensors and handling superstructures. concept was designed have as few actuators possible. robot's kinematics solved purpose simulating movement implementation into control system.

Development of a planar biped robot is currently underway at Yeditepe University. The robot consists of lower extremities with a torso that are designed at anthropomorphic dimensions. This study describes the design and testing of a foot contact sensor for the biped robot. Dynamic stability of a biped robot is commonly measured by the zero moment point (ZMP) method. Experimentally, ZMP is measu...

This paper concerns on footstep planning of a biped robot in an environment having some obstacles. Biped robot has an advantage to work in human surroundings: This is accomplished by its capability to walk over the obstacles. Though its foot placement should be discussed to step over obstacles, it is difficult because dynamic biped locomotion is a complex interaction system between CoG trajecto...

the focus of studies in the field of passive walking has often been on straight walking, while less attention has been paid to the field of turning motions. in this paper, the passive motions of a finite width rimless wheel as the simplest 3d model of passive biped walkers was investigated with a focus on turning motions. for this purpose, the hybrid model of the system consisting of continuous...

This work presents a novel gait generation method for biped hopping with point feet. The investigated biped model consists of a kneed massless leg and a trunk with two Hill-type muscles at the hip and knee joints. The dynamic equations of the system are derived using Lagrange method. Since the most important phase to stabilize bipedal running and hopping motion is stance phase, this paper deals...

This paper deals with a new up-stair motion planning algorithm for a biped robot. The whole body of the humanoid can be visualized as a kinematically redundant robot, where the number of joints are more that the required degree of freedom. Based on the ZMP constraint equation, a sequential redundancy resolution algorithm is proposed, which ensures the ZMP trajectory, the planned operational mot...

This paper considers the design and evaluation of stabilising controllers for a twelve degree of freedom biped robot using linear quadratic optimal control techniques and reduced order observers. The controllers are designed using approximate planar dynamical models for the sagittal and lateral planes. Experiments were carried out to test the control system when the biped robot was in the doubl...

Controlling a biped robot with a high degree of freedom to achieve stable and straight movement patterns is a complex problem. With growing computational power of computer hardware, high resolution real time simulation of such robot models has become more and more applicable. This paper presents a novel approach to generate bipedal gait for humanoid locomotion. This approach is based on modifie...

This paper deals with the design of a control strategy that combines a nonlinear observer and a partial feedback linearization controller to stabilize the periodic orbits of an under-actuated three link biped robot. We show first that passive dynamics (non-actuated coordinates) can be linearized and decoupled from the rest of the system by applying a nonlinear feedback. Then, the proposed obser...

Humanoid walking is considered one of the hardest problems in Robotics. Current state-of-the-art humanoid robots are able to achieve high speeds on flat ground. However, they still exhibit agility, dexterity, robustness, flexibility and energy efficiency far below than a typical human does. In this work, we present an omnidirectional walking pattern generator for a humanoid robot. We follow an ...