This paper presents the main simulation and experimental results from studies of the robustness of a proposed new control strategy for the under-actuated robot RABBIT. The disturbances studied include modifications of the characteristics of the foot/ground interaction and the application of external forces to the trunk of the robot. These two kinds of disturbance correspond to those most freque...

In this paper we present a humanoid robot, HRP-2P, which can walk, lie down and get up. We believe that HRP-2P (154 cm height and 58 kg weight) is the first humanoid robot that is the size of a human and can lie down and get up. Biped walking is realized by a walking pattern generator using a preview control and a feedback control. The lying down and getting up motions were made possible by HRP...

A efficient biped robot balance control is essential to achieve dynamic walk. In this work we propose a incremental fuzzy algorithm to control the lateral plane movements for a biped robot. This algorithm is computationally more economic as an adaptive control algorithm. This algorithm demonstrate a smooth balance control response and a correct interaction between the walking algorithm and the ...

A 3D biped with knees and a hip is naturally modeled as a nontrivial hybrid system; impacts occur when the knee strikes and when the foot impacts the ground causing a switch in the dynamics governing the system. Through a variant of geometric reduction—termed functional Routhian reduction—we can reduce the dynamics on each domain of this hybrid system to obtain a planar equivalent biped. Using ...

For a biped climbing robot with dual grippers to climb poles, trusses or trees, feasible collision-free climbing motion is inevitable and essential. In this paper, we utilize the sampling-based algorithm, Bi-RRT, to plan single-step collision-free motion for biped climbing robots in spatial trusses. To deal with the orientation limit of a 5-DoF biped climbing robot, a new state representation a...

This paper present a self-excited walking of a fourlink biped mechanism which possesses an actuated hip joint and passive knee joints. First we manifested that this self-excitation control enables 3-DOF planar biped model to walk on a level ground, by numerical simulation. Next we showed experimental study of a manufactured planar biped walking robot. We demonstrated that stable walking can be ...

Generating stable dynamic motions for a biped robot in real time is difficult due to the unstable nature of biped systems and their high degrees of freedom. We propose an approximate dynamics model for biped robots with three masses and no kinematic constraints. We also propose a relaxed boundary condition called “the divergent component of motion”. These techniques allow us to generate walking...

Developing a robust, flexible, closed-loop walking algorithm for a humanoid robot is a challenging task due to the complex dynamics of the general biped walk. Common analytical approaches to biped walk use simplified models of the physical reality. Such approaches are partially successful as they lead to failures of the robot walk in terms of unavoidable falls. Instead of further refining the a...

Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control b...