This paper proposes an on-line trajectory modification scheme for biped robots to cope with uncertainty o] their environment. For stable locomotion, biped robots should have robust properties against various disturbances such as ground irregularity and external pushing or pulling .forces. Since such uneertainty is not known a priori, biped robots should have the ability to adapt to them on-line...

Biped robots’ locomotion is realized by driving the joint motion via a drive chain. Therefore, stiffness of chain an important factor that affects performance and can influence behavior biped robot. This work focused on leg’s using mass-spring model based robot AIRO built in Zhejiang Lab. Methods for determination parameters proposed were presented, including use ANSYS Workbench to determine in...

The study on biped locomotion in humanoid robots has gained great interest since the last decades (Hirai et. al. 1998, Hirukawa et. al., 2004, Ishiguro, 2007). This interest are motivated from the high level of mobility, and the high number of degrees of freedom allow this kind of mobile robot adapt and move upon very unstructured sloped terrain. Eventually, it is more desirable to have robots ...

Humanoid robots have been expected to work as an alternative to human in severe working conditions. In order for humanoid robots to work in the field of civil engineering, construction or disaster-relief, humanoid robots must have ability of walking on uneven terrain such as sand, clay and snow. However, most of studies on biped walking on even or uneven terrain have assumed stiff ground. Biped...

This paper presents biped walking control using a library of optimal trajectories. The biped walking control problem is formulated as an optimal control problem. We take advantage of a parametric trajectory optimization method to find the periodic steady-state trajectory in regular walking. Then we use Differential Dynamic Programming (DDP) to generate a library of optimal trajectories and loca...

Biped legged robots have been motivated by its potential use in rough terrain, as well as for advancement in prosthesis manufacturing and testing. This paper will give comparative analysis of various walking schemes of biped humanoid robot and concentrates on issues related to its automatic control. The paper shows that there is scope for improvement in the present available biped robots and fu...

This paper introduces a novel stereo vision based simulation system for a Humanoid Robot. This stereo vision system and robot controller is simulated dynamically and its performance evaluated for a standard humanoid robot benchmark problem. The vision system presented has been tested by simulating the dynamics of the robot system as well as the image processing subsystem. The real-time image pr...

Development of simple computational schemes to manage zmp to force biped robots into dynamic walking has been an important area. In this paper, a straightforward computational technique to map the body trajectories of a biped, to achieve dynamic walking is suggested. While such works for one mass representation has been reported earlier, here, a three mass representation of a biped robot is con...

Declining birthrate and a growing proportion of elderly people are closed up as social issues in Japan. Especially, a growing proportion of elderly people is seen as an issue in nations of Europe and North America and so on as well as Japan. New labors engaging in the life support and the nursing for the elderly person will need in the future. To supplement the lack of the manpower, the researc...

The planar passive compass-gait biped robot on sloped surfaces is the simplest model of legged walkers. It is a two-degrees-of-freedom impulsive mechanical system known to exhibit, in response to an increase in the slope angle of the walking surface, a sequence of period-doubling bifurcations leading to chaos before falling down at some critical slope without any explanation. The fall is found ...