The development of optimized motions of humanoid robots that guarantee a fast and also stable walking is an important task especially in the context of autonomous soccer playing robots in RoboCup. We present a walking motion optimization approach for the humanoid robot prototype HR18 which is equipped with a low dimensional parameterized walking trajectory generator, joint motor controller and ...

This paper proposes a design for a precision positioning miniature walking robot using piezoelectric unimorph actuators. The theoretical working equations of a uniform piezoelectric unimorph beam are derived based on the linear piezoelectric relations, Hamilton’s principle, and Euler-Bernoulli beam equation. The modal superposition method is used to determine the response of the forced transver...

The paper presents new concepts and approaches of multi-stage fuzzy method of walking robots using resolved acceleration control. Several compliant control methods were analyzed in order to obtain high performances in robot trajectory control, which generates position and force parameters for multi-stage fuzzy control, some of which include a dynamic model in loop control and some of which does...

We have previously built a small IKg ([Angle 89] and [Brooks 89]) six legged walking robot named Genghis. It was remarkably successful as a testbed to develop walking and learning algorithms. It encouraged us to build a more fully engineered robot with higher performance. We are building two copies of the robot, both 1.6Kg in mass. Their generic name is Attila. Attila has 24 actuators and over ...

Meltran V, a new biped robot with telescopic legs, is introduced. For 3D walking control of the robot we analyze the dynamics of a three-dimensional inverted pendulum in which motion is constrained to move along an arbitrarily de ned plane. From this analysis we obtain simple linear dynamics, the ThreeDimensional Linear Inverted Pendulum Mode (3DLIPM). Using a real-time control method based on ...

This study focuses on the passive dynamic walking to enable a biped robot on level ground to walk efficiently with simple mechanisms. To build an efficient bipedal robot, utilizing the dynamical property of the robot system is a useful approach. McGeer studied passivedynamic walking, and showed a biped robot without actuators and controllers can walk stably down a shallow slope in simulations a...

We illustrate an original real-time replanning scheme experimentally for humanoid robot reactive walking. Footsteps are planned as a sequence of “half-steps” that can be easily integrated with randomized planning methods such as RRT. Combined with an approximation of the volume swept by the robot legs during dynamic walking, our method is able to cope with the collision avoidance for 3D obstacl...

This paper describes the use of an actuated toes joint in a humanoid robot to achieve human-like bipedal walking. The robot does not shorten the stance leg, but uses the segment between the ankle joint and the toes joint to over-extend the unloading leg in the double-support phase. Experiments with the servo-based humanoid robot Toni show that this approach leads to low energy-consumption in th...

In this paper the problem of free gait generation and adaptability with reinforcement learning are addressed for a six-legged robot. Using the developed free gait generation algorithm the robot maintains to generate stable gaits according to the commanded velocity. The reinforcement learning scheme incorporated into the free gait generation makes the robot choose more stable states and develop ...

This work studied biped walking with single (one-leg) support and balance control using reinforcement learning. The proposed Q-learning algorithm makes a robot learn to walk without any previous knowledge of dynamics model. This balance control with single support shifts the Zero Moment Point (ZMP) of the robot to a stable region over walking sequences by means of learned gestures. Hence, the p...