MEL HORSE has been developed for studying quadruped robot and biped robot. Biped robot "MEL Deinonychus II" is a fore-portion of "MEL HORSE II". To develop legged robot, we can not avoid the problem how to control the robot real-timely. Control of ZMP(Zero Moment Point) is indispensable in order for a legged type robot to dynamic walk. Conventionally, control of ZMP prepared a trajectory with w...

Trunk motions are typically used to stabilize the locomotion of biped robots, which can be very large in some leg trajectories. This paper proposes a method to reduce the motion range of the trunk by generating a desired trajectory of the ZMP. The trajectory is determined by a fuzzy logic based upon the leg trajectories that are arbitrary selected. The resulting ZMP trajectory is similar to hum...

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Developments for 3D control of the center of mass (CoM) of biped robots are currently located in two local minima: on the one hand, methods that allow CoM height variations but only work in the 2D sagittal plane; on the other hand, nonconvex direct transcriptions of centroidal dynamics that are delicate to handle. This paper presents an alternative that controls the CoM in 3D via an indirect tr...

We introduce a new method of a biped walking pattern generation b y using a preview control of the zeromoment point ( Z M ) . First, the dynamics of a biped robot is modeled as a running cart on a table which gives a convenient representation to treat ZMP. After reviewing conventional methods of ZMP based pattern generation, we formalize the problem as the design o f a ZMP tracking servo contro...

Limit cycle walkers are a class of bipeds that achieve stable locomotion without enforcing full controllability throughout the gait cycle. Although limit cycle walkers produce more natural-looking and efficient gaits than bipeds that are based on other control principles such as zero moment point walking, they cannot yet achieve the stability and versatility of human locomotion. One open questi...

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...

This paper describes our research efforts aimed a t understanding human being walking functions. Using motion capture system, force plates and distributed force sensors, both human being and humanoid H7 walk motion were captured. Experimental results are shown. Comparison in between human being with H7 walk in following points are discussed : 1) ZMP trajectories, 2) torso movement, 3) free leg ...

This paper describes a process for evolving a stable humanoid walking gait ihai is based around parameierised loci of motion. The parameters of the loci are chosen by an evolutionory process based on the criteria that the robot’s ZMl’ (Zero Moment Point) follows a desirable path. The paper illustrates the evolution of a straight line walking gait. The gait has been tested on a 1.2m iall humanoi...

This work takes part in the project of development of an anthropomorphic biped robot, Bip. The technological construction has been completed and the robot has performed some slow static walks. The next stage is the implementation of fast and dynamic walking gaits, in other words anthropomorphic gaits. The robot feet have been designed with a three-axes force-moment sensor for reconstructing the...