dynamically stable biped robots mimicking human locomotion have received significant attention over the last few decades. formerly, the existence of stable periodic gaits for straight walking of passive biped walkers was well known and investigated as the notion of passive dynamic walking. this study is aimed to elaborate this notion in the case of three dimensional (3d) walking and extend it f...

Abstract This paper describes a control strategy of the stable walking for the human-riding biped robot, HUBO FX-1. HUBO FX-1 largely consists of two legs with 12 DOF (Degree of freedom), a pelvis and a cockpit. A normal adult can easily ride on HUBO FX-1 by means of a foothold and can change the walking direction and speed continuously through the use of a joystick. Principally, this kind of r...

This paper describes a control strategy of the stable walking for the human-riding biped robot, HUBO FX-1. HUBO FX-1 largely consists of two legs with 12 d.o.f., a pelvis and a cockpit. A normal adult can easily ride on HUBO FX-1 by means of a foothold, and can change the walking direction and speed continuously through the use of a joystick. Principally, this kind of robot must be able to carr...

erebellar model arithmetic C computer (CMAC) neural networks can be applied to the problem of biped walking with dynamic balance. The project goal here is to develop biped control strategies based on a hierarchy of simple gait oscillators, PID controllers, and neural network leaming, that do not require detailed kinematic or dynamic models. While results of simulation studies using twodimension...

This research was intended at developing a biped walking robot with antagonistic actuation for realizing stable walking motion. A three-linked planar-type walking robot was developed on the basis of the model of a semipassive walking robot. An antagonistic actuation mechanism based on the human musculoskeletal structure was applied to the hip joint of the developed walking robot. The antagonist...