نتایج جستجو برای: biped robots

تعداد نتایج: 39739  

2011
Shahriar Asta Sanem Sariel

Biped locomotion for humanoid robots is a challenging problem that has come into prominence in recent years. As the degrees of freedom of a humanoid robot approaches to that of humans, the need for a better, robust, flexible and simpler maneuverability becomes inevitable for real or realistic environments. This paper presents a new method of controlling the trajectory of a humanoid robot on the...

2012
Hun-ok Lim Atsuo Takanishi

Human beings, animals and some birds use their legs to move with great mobility, but we do not yet have a full understanding of their motion mechanism. The reason is that we lack man-made robots that use legs to obtain high mobility. We, especially, need two-legged robots that are able to adapt to human living environments such as offices and homes. In order to analyze a human walking mechanism...

2009
ASHRAF A. ZAHER MOHAMMED A. ZOHDY

This paper proposes a robust mathematical approach for motion control. The proposed control technique is applied to a three-degree of freedom Biped walking robot for illustration. The design technique is divided into two major steps; the first one is to establish a robust position control scheme with both guaranteed stability and trajectory tracking capability using a model-reference technique ...

2001
James J. Kuffner Koichi Nishiwaki Satoshi Kagami Masayuki Inaba Hirochika Inoue

We present an algorithm for planning safe navigation strategies for biped robots moving in obstaclecluttered environments. From a discrete set of plausible statically-stable, single-step motions, a forward dynamic programming approach is used to compute a sequence of feasible footstep locations. In contrast to existing navigation strategies for mobile robots, our method is a global method that ...

2017
C. Neves R. Ventura

Traditional methods for robotic biped locomotion employing stiff actuation display low energy efficiency and high sensitivity to disturbances. Legged locomotion can be modelled as an hybrid system, where continuous dynamic flows, such as the single or double support stages, are interrupted by discrete jumps, such as heelstrike or lift-off. Traditional control systems are not suited to deal with...

Journal: :Robotics and Autonomous Systems 2014
Sajid Iqbal Xizhe Zang Yanhe Zhu Jie Zhao

Irrespective of achieving certain success in comprehending Passive DynamicWalking (PDW) phenomena from a viewpoint of the chaotic dynamics and bifurcation scenarios, a lot of questions still need to be answered. This paper provides an overview of the previous literature on the chaotic behavior of passive dynamic biped robots. A review of a broad spectrum of chaotic phenomena found in PDW in the...

2009
Adam Setapen

Although machine learning, reinforcement learning, and learning from demonstration have improved the rate and accuracy at which robots can gain intelligence from humans, they haven’t reached the rapid rate at which humans are able to acquire new knowledge. Many systems that exploit imitation learning use simple positive and negative reinforcement, and place the burden of learning completely on ...

2012
Chenglong Fu Zhao Liu Ken Chen

The importance of stability for dynamical systems is well-known. Any real system, including biped robots, need to be working under all kinds of disturbances. Whether the biped robot can effectively keep the planned motion under these disturbances is a fundamental property, and that is the explanation of stability intuitively. Stability of biped walking is the key problem in the theoretical fram...

Journal: :International Journal of Networked and Distributed Computing 2016

2014
Hayder F. N. Al-shuka Burkhard J. Corves Wen-hong Zhu

The aim of this paper is to derive the equations of motion for biped robot during different walking phases using two well-known formulations: Euler-Lagrange (E-L) and Newton-Euler (N-E) equations. The modeling problems of biped robots lie in their varying configurations during locomotion; they could be fully actuated during the single support phase (SSP) and over-actuated during the double supp...

نمودار تعداد نتایج جستجو در هر سال

با کلیک روی نمودار نتایج را به سال انتشار فیلتر کنید