Development of simple computational schemes to manage zmp to force biped robots into dynamic walking has been an important area. In this paper, a straightforward computational technique to map the body trajectories of a biped, to achieve dynamic walking is suggested. While such works for one mass representation has been reported earlier, here, a three mass representation of a biped robot is con...

This paper presents a novel dynamic control approach to acquire biped walking of humanoid robots focussed on policy gradient reinforcement learning with fuzzy evaluative feedback . The proposed structure of controller involves two feedback loops: conventional computed torque controller including impact-force controller and reinforcement learning computed torque controller. Reinforcement learnin...

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...

This paper mainly focuses on the mobile biped robots. It introduces the passive dynamic walking model, the landmark passive dynamic walking robot without knees, review of the development of passive walking robots. and the XZ-01 designed by CUPT, which has broken the Guinness World Records.

Robust walking under various ground condition is required for application of biped robots. Some researches deal with the biped robot control considering foot slip as [1] and [2]. However, few research deal with recovery control after slip. Our work presents balance recovery trajectory design and disturbance-observer (DOB) based control [3]. Balance recovery trajectory is designed through slip r...

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...

We have been developing a software platform, called OpenHRP, for humanoid robotics which consists of a dynamic simulator and motion control library for humanoid robots. This paper tries to answer a frequently asked question “do the dynamic simulations and the experiments of biped walking of humanoid robots correspond?”. Using OpenHRP and humanoid robots HRP1S and HRP-2P, the comparisons between...

This paper shows how efficient object oriented dynamics modeling and optimal control techniques form the basis for generating optimal gaits for four-legged and biped robots. Dynamics of walking robots, dynamics algorithms and our object-oriented approach are shortly repeated as well as optimal control techniques. Numerical and experimental results for a four-legged and a humanoid robot are cited.

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...

Biped robots are intricate in design, with more degrees of freedom (DOF) because of the challenging goal of imitating humanoid gait. This paper gives a very simple architecture of the biped robot have three degrees of freedom (DOF)in each leg, one DOF for hip joint and one corresponding to the knee and ankle joint respectively. Denavit-Hartenberg parameter is being used to obtain the solution f...