Seminal works in biped walking such as [1] had assumed favorable initial conditions on a limit cycle to start with. A more practical approach would be to start the biped from a static resting position. This paper proposes a simplified and straightforward approach for taking a biped robot from an initial resting position to a stable walking limit cycle. The biped model selected for the study is ...

Biped robots form a subclass of legged or walking robots. The study of mechanical legged motion has been motivated by its potential use as a means of locomotion in rough terrain, as well as its potential benefits to prothesis development and testing. This paper concentrates on issues related to the automatic control of biped robots. More precisely, its primary goal is to contribute a means to p...

To date, various methods using the concept of neural circuit or so-called central pattern generators (CPGs) have been proposed to create agile locomotion for legged robots. In contrast to these approaches, in this article we propose a polymorphic neural circuit that allows the dynamic change of its properties according to the current situation in real time to be employed instead. To this end, t...

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...

We propose a model-based reinforcement learning algorithm for biped walking in which the robot learns to appropriately place the swing leg. This decision is based on a learned model of the Poincare map of the periodic walking pattern. The model maps from a state at the middle of a step and foot placement to a state at next middle of a step. We also modify the desired walking cycle frequency bas...

For biped robot, friendly environment interaction makes sense. In this paper, a new method to plan the gait and control a biped robot on stairs with desired ZMP is proposed first. The desired ZMP derived from an iterative optimal algorithm not only has enough stability margin and satisfies actuator specifications, but also is available to implement and energy saving. Then, a controller with for...

The purpose of this paper is to show realization of passive walking of a biped robot Emu that is composed of one body and two legs. The semi-passive walking means that a biped robot walks passively on gentle descent accompanying with attitude control of the body. In the beginning of this paper, we outline the formulation for the passive and semi-passive walking. We analyze, next, stability of t...

In this paper, a prismatic joint biped robot trajectory planning method is proposed. The minimum consumed energy is used as a criterion for trajectory generation, by using a real number genetic algorithm as an optimization tool. The minimum torque change cost function and constant vertical position trajectories are used in order to compare the results and verify the effectiveness of this method...