In this paper, a new biomimetic control method for a quadruped walking robot is proposed. The method is derived by the observation of the gravity load receptor and stimulusreaction mechanism of quadrupeds’ locomotion, and the study of the stances on walking and energy efficiency. Though the controller is simple, it provides a useful framework for controlling a quadruped walking robot. In partic...

In this paper a roll-walking motion of a robot with a multi-rotor drive system is considered. The robot represents a rigid body with the multi-rotor drive system which consists of pairs of conjugate rotors located on the main axes. The multi-rotor drive system allows using conjugate spinups and captures of conjugate rotors to perform roll-walking motion of the robot. To perform a single step of...

We propose a model-based reinforcement learning algorithm for biped walking in which the robot learns to appropriately modulate an observed walking pattern. Viapoints are detected from the observed walking trajectories using the minimum jerk criterion. The learning algorithm modulates the via-points as control actions to improve walking trajectories. This decision is based on a learned model of...

When a humanoid robot walks fast or runs, the yaw torque is so large that the supporting foot slips easily and the robot may become unstable. The compensation for the yaw torque is important for fast humanoid walking and many studies have been focusing on yaw torque compensation. However, the issue of humanoid robot motion design that can make the movements of the rob...

This paper develops a brain-computer-interface (BCI) based humanoid robot control system. The system consists of an electroencephalograph (EEG), a humanoid robot, and a CCD camera. The goal of our study is to control humanoid walking behavior through neural signals acquired by the 32 channel EEG. The humanoid robot is equipped with an onboard PC and has 20 degrees of freedom (DOFs). The CCD cam...

Humanoid robot has been developed for human’s convenience in the human environment. Humanoid robots like ASIMO, HRP, WABIAN and Johnnie were successively developed (Hirai et al., 1998; Yamaguchi et al., 1999; Kajita et al., 2003; Löffler et al, 2003). Researches on humanoid have been done about balancing, walking pattern generation, motion generation, whole body cooperation and so on. In partic...

A robot capable of moving on a vertical or overhanging wall has been expected for inspection use of the outer walls of tall buildings, dams, and some other vertical walls. For the purpose, the sucking force produced by the negative pressure in the suckers is available to sustain the robot on the surfaces. To adopt a robot to the various types of irregular surfaces, a walking mechanism is suitab...

The motion control of a biped robot that can climb up and down stairs is studied in this work. The algorithm generates walking patterns with desired stable margin and walking speed. Only the approximate stair height and width are required. This algorithm derives the optimal hip height and uses cubic polynomial to generate the hip and foot trajectory. The control of initial and final speeds in a...

This paper presents the ability of hybrid zero dynamics (HZD) feedback control method to reproduce human like movements for walking push recovery of an under-actuated 3D biped model. The balance recovery controller is implemented on a three-dimensional under-actuated bipedal model subjected to a push disturbance. The biped robot model is considered as a hybrid system with eight degrees of freed...