The paper deals with the proposed concept of a biped robot vertical stabilization robot’s base and minimization its sideways oscillations. This uses 6 actuators, which gives good preconditions for energy balance compared to purely articulated bipedal robots. In addition, used linear actuator is self-locking, so no additional required braking or keep it in stable position. direct inverse kinemat...

Recently, Taiwan and many developed countries have been experienced an emergence of growing aging population and decreasing working population and birth rate. The number of home-caring workers in need has surpassed that of available working force. Furthermore, the expense of home-caring elders will substantially increase. The employment of foreign workers is just a temporary solution. It is the...

Since the pioneering work of McGeer in the late 1980s, the concept of passive dynamic walking (hereafter PDW) has been attracting lots of attention in the field of legged robots 1) A significant feature of PDW robots is that they have no control system; they merely exploit their intrinsic mechanical dynamics carefully designed, and show surprisingly natural and human-like walking on a gentle sl...

This paper presents two biped designs for miniature climbing robots. The designs use underactuation to satisfy space and weight constraints. In the first design, one actuator provides steering and another two propel the robot in a cartwheel style gait. The cartwheel gait is quite effective but space required for the maneuver precludes certain applications. The limitation is overcome in the seco...

The idea of component-based software engineering was proposed more that 40 years ago, yet only few robotics software frameworks follow these ideas. The main problem with robotics software usually is that it runs on a particular platform and transferring source code to another platform is crucial. In this paper, we present our software framework Fawkes which follows the component-based software ...

|Many robot applications require legged robots to traverse rough or unmodeled terrain. This paper explores strategies that would enable legged robots to respond to two common types of surface contact error: slipping and tripping. Because of the rapid response required and the di culty of sensing uneven terrain, we propose a set of reexes that would permit the robot to react without modeling or ...

Effective use of robots in unstructured environments requires that they have sufficient autonomy and agility to execute task-level commands successfully. A challenging example of such a robot is a bipedal walking machine. Such a robot should be able to walk to a particular location within a particular time, while observing foot placement constraints, and avoiding a fall, if this is physically p...

As an example of a modern approach to artificial intelligence that puts emphasis on the balance between control, electronic hardware, material, sensory system and energy, we developed the Viki humanoid robots. In contrast to the top-down approach of equipping a humanoid with as many sensors, motors, power, etc. as possible, we developed a bottom-up approach to the construction of humanoids. The...

We present an approach to path planning for humanoid robots that computes dynamically-stable, collision-free trajectories from full-body posture goals. Given a geometric model of the environment and a statically-stable desired posture, we search the configuration space of the robot for a collision-free path that simultaneously satisfies dynamic balance constraints. We adapt existing randomized ...