Walking motions of biped robots have features of humanoid and intelligent. Generally, when we human are walking, we may control the walking motions using qualitative instructions, such as linguistic “slow” or “fast,” “forward” or “backward,” “big step” or “small step”. This motivates us to design a fuzzy controller for biped robots. Furthermore, to improve the robustness of the biped walking sy...

This paper proposes a model called the gravitycompensated inverted pendulum mode (G CIPM) to generate a biped locomotion pattern that is similar to the one generated by the linear inverted pendulum mode, but accommodates the free leg dynamics based upon its predetermined trajectory. When the biped locomotion based upon the linear inverted pendulum mode is applied to real biped robots, the stabi...

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...

The postural stability of bipedal robots is investigated in perspective of foot-rotation during locomotion. With foot already rotated, the biped is modeled as an underactuated kinematic structure. The stability of such biped robots is analyzed by introducing the concept of rotational stability. The rotational stability investigates whether a biped would lead to a flat-foot posture or the biped ...

This paper describes an online method generating walking patterns for biped humanoid robots having a trunk. Depending on the walking command, the motion patterns of the lower-limbs are created and connected to the prewalking patterns smoothly in online. For the stability of the biped robots, the trunk and the waist motion is generated by a walking stabilization control that is based on the ZMP ...

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...

Abstract: The legged robot can only walk very similar to human walking pattern. Therefore, many robots have been researched and developed in recent years. However, the biped robots still have many issues for the natural human walking in terms of the redundant degree of freedom, complexity of the kinematics, and stability. In this paper, we have described our biped robot modeling in the forward ...

In this paper, we propose a new method to generate C continuous gait motion for biped robots. The method is based on the enhanced inverted pendulum mode, which can easily handle angular momentum around the center of gravity. Using our method, it is possible to plan motion paths for biped robots without discontinuity in the acceleration even during switching from single support phase to double s...

As a biped robot has become more anthropomorphic and performs a various task on behalf of human, the research on biped robots gradually attracts much attention and is progressing dynamically. However, biped robots are difficult to control due to their nonlinear and coupled dynamics. First, Inverted pendulum [1] is applied to interpret some characteristics of human walking. Later, researchers co...