Teaching simulated biped robots to walk is a popular problem in machine learning. However, until this thesis, evolving a biped controller has not been attempted through an indirect encoding, i.e. a compressed representation of the solution, despite the fact that natural bipeds such as humans evolved through such an indirect encoding (i.e. DNA). Thus the promise for indirect encoding is to evolv...

This paper deals with multi-objective optimization in gait planning of a 7-dof biped robot ascending and descending some staircases. Both its power consumption as well as dynamic balance margin depends on a few common design parameters. The biped robot should have a maximum dynamic balance margin but at the expense of minimum power. Thus, a conflicting relationship exists between these two obje...

When dealing with walking or hopping biped robots, one of the main objectives is to stand for stable periodic trajectories during regular displacements. From a state space point of view, such objective may correspond to achieve stable limit cycles (e.g. [1] [2] [3]). In such case, the major problem is to look for these potential limit cycles (i.e to prove their existence), and, if existing, to ...

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...

A symmetry position/force hybrid control framework for cooperative object transportation tasks with multiple humanoid robots is proposed in this paper. In a leader-follower type cooperation, follower robots plan their biped gaits based on the forces generated at their hands after a leader robot moves. Therefore, if the leader robot moves fast (rapidly pulls or pushes the carried object), some o...

In this paper an Energy Dissipation Rate Control (EDRC) method is introduced, which could provide stable walking or running gaits for legged robots. This method is realized by developing a semi-analytical pattern generation approach for a robot during each Single Support Phase (SSP). As yet, several control methods based on passive dynamic walking have been proposed by researchers to provide an...

This paper addresses a gait generation problem for the compass-type biped robot on periodically unlevel grounds. We first derive the continuous/discrete compass-type biped robots (CCBR/DCBR) via continuous/discrete mechanics, respectively. Next, we formulate a optimal gait generation problem on periodically unlevel grounds for the DCBR as a finite dimensional nonlinear optimization problem, and...

In this paper, we propose a universal biped walking generator that can plan smooth and flexible walking motions in complex environments, including stairs, slopes, and obstacles. In addition to generating collision-free patterns while keeping the balance of the robot, this generator also checks whether the patterns are achievable for the robot. Aiming at this goal, we introduce a simplified walk...