The chapter presents an approach to control the biped humanoid robot to ambulate through human imitation. For this purpose a human body motion capturing system is developed using tri-axis accelerometers (attached to human legs and torso). The tilt angle patterns information from the human is transformed to control and teach various ambulatory skills for humanoid robot bipedalism. Lyapunov stabi...

In this paper, the attitude control of the biped robot based on the robust reactive force control is proposed, which can locally suppresses the unknown disturbances on the terrain. The method is investigated through the experiments of the 14 axes biped robot. The position of the center of mass and the attitude of the body is well controlled within 0.03 [m] and 0.04 [rad] (= 2.3 [deg]) errors.

1. Motivation Legged robots will need to be fast, robust and efficient for real world applications. In this research, we aim to design a high speed bipedal running robot on 3D environments based on active tail stabilization method, Raptor 2 robot. 2. State of the Art Many legged robots have been studied and developed so far, but only a few robots have achieved stable fast legged locomotion. In ...

This paper describes a new approach allowing the generation of a simplified Biped gait. This approach combines a classical dynamic modeling with an inverse kinematics’ solver based on particle swarm optimization, PSO. First, an inverted pendulum, IP, is used to obtain a simplified dynamic model of the robot and to compute the target position of a key point in biped locomotion, the Centre Of Mas...

Biped robots are expected to walk on many di erent and previous unknown terrains, and thus they may walk on a slippery surface with low friction with no information on the surface a priori. Any fall-down due to unexpected slipping could costly damage the robot and thus should be avoided. This paper proposes a re ex control method for biped robots to quickly recover their posture from a slip soo...

This paper describes the control of a biped robot that uses an SVR (Support Vector Regression) for its balance. The control system was tested subjected to external sagittal pulling and pushing forces. Biped robots have leg link structures similar to the human’s anatomy. To be able to maintain its stability under dynamic situations such robotic systems require good mechanical designs and force s...

The biped robots have higher mobility than conventional wheeled robots, especially when moving on rough terrains, up and down slopes and in environments with obstacles. The geometry of the biped robot is similar to the human beings, so it is easy to adapt to the human life environment and can help the human beings to finish the complex work. With the development of the society, the needs for ro...

This chapter designs an intelligent humanoid robot that not only can walk forward, backward, turn left, turn right, walk sideward, squat down, stand up and bow smoothly, but also can imitate several human basic motions. The robot’s structure is composed of 17 AI motors with some selfdesign acrylic sheets connections. The robot is like a human in that it also has two hands, two feet, and a head....

We have developed a robust control policy design method for high-dimensional state spaces by using differential dynamic programming with a minimax criterion. As an example, we applied our method to a simulated five link biped robot. The results show lower joint torques using the optimal control policy compared to torques generated by a hand-tuned PD servo controller. Results also show that the ...