This paper develops a new concept of a Nonlinear Model Reference PID controller for a biped robot with seven degrees of freedom. The controller consists of five second order differential equations, each in terms of the angle error of a single joint from the designed trajectory. The coefficients of each differential equation are specifiable giving the ability to specify the behavior of the biped...

This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system control and actuator control techniques for 10 Degree of Freedom (DOF) biped humanoid. Bi-pedal robots have better mobility than conventional wheeled robots, ...

In this paper we present advancements in control and trajectory generation for agile behavior in bipedal robots. We demonstrate that Whole-Body Operational Space Control (WBOSC), developed a few years ago, is well suited for achieving two types of agile behaviors, namely, balancing on a high pitch split terrain and achieving undirected walking on flat terrain. The work presented here is the fir...

Abstract— In this paper, a simple Fourier series based algorithm has been used to achieve stable locomotion in an NAO biped robot, with 22 degrees of freedom that implemented in a virtual physics-based simulation environment of Robocup soccer simulation environment. The algorithm uses a Truncated Fourier Series (TFS) to generate control signal for the biped robot. To find the best angular traje...

In bipedal walking, stable balance and walking sequence are essential. In this work, a neural network to model the balance dynamic of a biped robot is proposed. The back propagation neural network capacities to generalize are used to agilely characterize the performance of a fuzzy PD incremental algorithm based on the ZMP criteria to balance a real biped robot structure. The effectiveness of th...

This paper presents the construction of a system composed by inertial sensors and the linkage with a biped robot, our main aim is the obtaining, quantification and analysis of human body posture (in rest or in motion). To achieve this, we have three objectives: 1. Determination and obtaining, of kinematics and dynamic of the body joints, 2. Imitation of body movements (biped robot prototype) 3....

Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots. However, the walking control for bipedal robots is a challenging task due to their complex dynamics. Stable reference generation plays a very important ro...

A biped robot is a mechanical multichain system. The peculiar features, that distinguishes this kind of robot with respect to others, e.g., industrial robots, is its switching nature between different phases, each one is the same mechanics subject to a different constraint. Moreover, because these (unilateral) constraints, represented by the contact between the foot/feet and the ground, play a ...

This paper deals with the generation of dynamically balanced gaits of a ditch-crossing biped robot having seven degrees of freedom (DOFs). Three different approaches, namely analytical, neural network (NN)based and fuzzy logic (FL)-based, have been developed to solve the said problem. The former deals with the analytical modeling of the ditch-crossing gait of a biped robot, whereas the latter t...