Many of today’s successful biped robots are controlled based on the Zero Moment Point (ZMP) method, which generates robust locomotion for flat-footed bipeds on a controlled environment. These controllers usually generate slow gaits with a low energy efficiency which do not look natural or human-like. In contrast, Passive Dynamic Walkers [2], [5] are fast, efficient and resemble human walking. M...

This paper concerns the simultaneous synthesis and control of walking gaits for biped robots. The goal is to propose an adaptable and reactive control law for two-legged machines. The problem is addressed with human locomotion as a reference. The starting point of our work is an analysis of human walking from descriptive (biomechanics) as well as explicative (neuroscience and physiology) points...

Bipedal walking is a challenging task for humanoid robots. In this study, we develop lightweight reinforcement learning method real-time gait planning of the biped robot. We regard bipedal as process in which robot constantly interacts with environment, judges quality control action through state, and then adjusts strategy. A mean-asynchronous advantage actor-critic (M-A3C) algorithm proposed t...

In the biped robotics domain, head oscillations may be extremely harmful, especially if robot is teleoperated, since vibrations strongly reduce operator’s spatial awareness. particular, undesired occur in under-actuated robots, where springs and passive mechanisms are used to achieve a human-like motion. This paper proposes an approach of robot’s head; proposed solution does not affect dynamic ...

In this paper, disturbance reconstruction and robust trajectory tracking control of biped robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type Hamiltonian function introduced, which ensures finite-time stability closed-loop system. The proposed system consists two loops: an inner outer loop. fractional proportional-integral-derivative filter used to achieve conve...

This paper investigates generating symmetric trajectories for an underactuated biped during the stance phase of running. We use a point mass biped (PMB) model for gait analysis that consists of a prismatic force actuator on a massless leg. The significance of this model is its ability to generate more general and versatile running gaits than the spring-loaded inverted pendulum (SLIP) model, mak...

this paper presents a novel neural network controller with composite adaptation low to improve the trajectory tracking problems of biped robots comparing with classical controller. The biped model has 5_link and 6 degrees of freedom and actuated by Plated Pneumatic Artificial Muscle, which have a very high power to weight ratio and it has large stoke compared to similar actuators. The proposed ...

The purpose of this paper is to present a robust tracking control algorithm for underactuated biped robots capable of self-balancing in the presence of external disturbances. The biped is modeled as a five-link planar robot with four actuators located at hip and knee joints. A sliding mode control law has been developed for the biped to follow a human-like gait trajectory while keeping the tors...

Humans possess a complex physical structure and can perform difficult movement tasks. Over the past few decades, many researchers around the world have concentrated on achieving human-like artificial mobility or dexterity either on humanoid robots or during the implementation of robotic assistive devices. In particular, humanoid-type robots mainly focused on hands to understand the mechanical a...