In this paper path planning and obstacle avoidance for a statically stable biped robot using PRM and reinforcement learning is discussed. The main objective of the paper is to compare these two methods of path planning for applications involving a biped robot. The statically stable biped robot under consideration is a 4-degree of freedom walking robot that can follow any given trajectory on fla...

In this paper we present a theoretical and experimental study of the self-excited walking of a biped mechanism with knees and feet on level ground. This biped mechanism possesses a single motor at the hip joint and active lock mechanisms at both knee joints. We first show that the self-excitation control enables the three-degrees-of-freedom planar biped model with feet to walk on level ground, ...

This paper addresses the design and programming of a biped robot. Simple kinematics will be employed to carry out an analysis of biped stability and control. Center of mass and angular position are key components of successful motion. These variables are monitored throughout each process gait. The motion is simulated using COSMOSMotion. Different software packages found in the market are analyz...

We propose a model-based reinforcement learning algorithm for biped walking in which the robot learns to appropriately place the swing leg. This decision is based on a learned model of the Poincaré map of the periodic walking pattern. The model maps from a state at a single support phase and foot placement to a state at the next single support phase. We applied this approach to both a simulated...

Controlling a biped robot with a high degree of freedom to achieve stable movement patterns is an open and complex problem. With growing computational power of computer hardware, high resolution realtime simulation of such robot models becomes more and more applicable. This approach presents a physical simulation of a 19 degree of freedom real biped robot model. The aim is to explore and optimi...

Biped robots have better mobility than conventional wheeled robots. The bio-inspired method based on a central pattern generator (CPG) can be used to control biped robot walking in a manner like human beings. However, to achieve stable locomotion, it is difficult to modulate the parameters for the neural networks to coordinate every degree of freedom of the walking robot. The zero moment point ...

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...

In this paper an adaptive neural-fuzzy walking control of an autonomous biped robot is proposed. This control system uses a feed forward neural network based on nonlinear regression. The general regression neural network is used to construct the base of an adaptive neuro-fuzzy system. The membership functions used in the antecedent part of the fuzzy system are asymmetric and with varying shapes...

This paper is concerned with the passive walking of an underactuated biped robot. First, we present the modelling of the biped robot (that is a 7 DOF robot). Then, we focus on the study of the almost passive dynamic walking. In particular, we show that the application of a nonlinear feedback control to stabilize the torso and knees leads the biped robot to perform a stable almost-passive dynami...