While biology-inspired approaches for computing walking gaits are often based on joint oscillators, whenever precise control of feet placement is needed a more specific approach based on explicit footstep control is usually employed. This paper presents a simple hybrid approach based on a gait generator procedure that generates a patterned walking gait based on trajectories to be followed by th...

In the previous work we presented a new gait for humanoid robots, such as the Nao developed by Aldebaran. This new gait implemented on a Nao, reduces the energy consumption by 41%. Then main feature of the new gait is the absence of an area of support. The foot can rotate freely around the ankle joint. This feature makes the gait suited for uneven terrains. Stability is an important aspect of w...

The field of exoskeletons and assistive orthotic devices is a multidisciplinary issue in the halfway between medicine and robotics. Within the robotic discipline, bipedal robot gaits are generated as a function of parameters such as stride length, foot clearance and body height. These features allow to adapt the gait to different surface characteristics. However, biped robot gaits do not look a...

The problem of tuning nonlinear dynamical systems parameters, such that the attained results are considered good ones, is a relevant one. This article describes the development of a gait optimization system that allows a fast but stable robot quadruped crawl gait. We combine bio-inspired Central Patterns Generators (CPGs) and Genetic Algorithms (GA). CPGs are modelled as autonomous differential...

The authors have proposed a control system of a quadruped locomotion robot by using nonlinear oscillators. It is composed of a leg motion controller and a gait pattern controller. The leg motion controller drives the actuators of the legs by using local feedback control. The gait pattern controller involves nonlinear oscillators with mutual interactions. In this paper, capability of adaptation ...

The control of legged robots ean be inspired from how biological systems (living creatures) control movements. In this paper, an oscillator-based gait rhythm generator is designed, and a computed torque controller implements the movement of a four-link robot leg. The coupled oscillator network generates trajectories of the hip, knee, and ankle joint angles resulting in a gait similar to that of...

This paper describes a walking gait for a humanoid robot with a distributed control system. The motion for the robot is calculated in real time on a central controller, and sent over CAN bus to the distributed control system. The distributed control system loosely follows the motion patterns from the central controller, while also acting to maintain stability and balance. There is no global fee...

We present a general method for the analysis of the gaits used by a six-legged robot independently of the mechanism used to generate the gait. The gait state of the robot is de ned as a function of the last executed steps and several classes of gait states as well as the transitions between them are identi ed. As an example, we apply our method to the well-know wave gaits (the most e cient and ...

This paper describes the designing of a nonlinear biological controller inspired from stable human gait locomotion, which we implement for a stable biped motion on a Biped Robot. The design of a Central Pattern Generator (CPG) which consists of a four coupled Rayleigh Oscillators. A TwoWay oscillator coupling has been used for modeling the CPG. The parameters of the CPG are then optimized by Ge...

This paper presents a role-based approach to the problem of controlling locomotion of chain-type self-reconfigurable robots. In role-based control, all modules are controlled by identical controllers. Each controller consists of several playable roles and a role-selection mechanism. A role represents the motion of a module and how it synchronizes with connected modules. A controller selects whi...