interpolation based trajectory planning method which is aiming to achieve smooth biped swing leg trajectory by reducing the instant velocity change which occurs at the time of collision of the biped swing leg with the ground. We first characterize the bipedal walking cycle and point out some major issues that need to be addressed to plan a continuous swing leg trajectory by using the concept of...

Since a biped humanoid inherently su ers from instability and always risks itself to tipping over, ensuring high stability and reliability of walk is one of the most important goals. This paper proposes a walk control consisting of a feedforward dynamic pattern and a feedback sensory re ex. The dynamic pattern is a rhythmic and periodic motion, which satis es the constraints of dynamic stabilit...

In this paper, we present a simple control framework for on-line push recovery with dynamic stepping properties. Due to relatively heavy legs in our robot, we need to take swing dynamics into account and thus use a linear model called 3LP which is composed of three pendulums to simulate swing and torso dynamics. Based on 3LP equations, we formulate discrete LQR controllers and use a particular ...

The purpose of this study is to find natural gait of biped robot such as human being by analyzing the COG (Center Of Gravity) trajectory of human being's gait. It is discovered that human beings gait naturally maintain the stability and use the minimum energy. This paper intends to find the natural gait pattern of biped robot using the minimum energy as well as maintaining the stability by anal...

In this paper, we present a new way to generate biped patterns online. Linear Inverted Pendulum and Zero Moment Point are employed as the dynamic basics. The simplified walking concept is introduced to describe the complete biped motions with the unit of a walking step, instead of a time step of the robot’s working time in usual methods. With this concept, the complex flexible motion planning c...

Incorporating a dynamic kick engine that is both fast and effective is pivotal to be competitive in one of the world’s biggest AI and robotics initiative: RoboCup. Using the NAO robot as a testbed, we developed a dynamic kick engine that can generate a kick trajectory with an arbitrary direction without prior input or knowledge of the parameters of the kick. The trajectories are generated using...

In this paper we present the Model Predictive Control (MPC) with dynamic constraints for generating dynamic walking for the compliant humanoid COMAN. The dynamics of the robot are modeled using the cart-table model which allows the generation of a dynamically balanced gait given a planned walking pattern based on the Zero Moment Point (ZMP). Our simulation study of the MPC’s implementation on b...

Humanoid walking is considered one of the hardest problems in Robotics. Current state-of-the-art humanoid robots are able to achieve high speeds on flat ground. However, they still exhibit agility, dexterity, robustness, flexibility and energy efficiency far below than a typical human does. In this work, we present an omnidirectional walking pattern generator for a humanoid robot. We follow an ...

In this paper, two mode Q-learning, an extension of Q-learning, is used to stabilize the Zero Moment Point (ZMP) of a biped robot in the standing posture. In two mode Q-learning, the experiences of both success and failure of an agent are used for fast convergence. To demonstrate the effectiveness of two mode Q-learning against conventional Q-learning, the property of convergence is investigate...

Biped locomotion generated by control methods based on Zero-Moment Point (ZMP) has been achieved and its efficacy for stable walking, where ZMP-based walking does not include the falling state, has been verified extensively. The walking control that does not depend on ZMP – we call it dynamical walking – can be used in walking that utilizes kicks by toes, which looks natural but is vulnerable t...