Gait Synthesis Based on FWN and PD Controller for a Five-Link Biped Robot

A new method of desired gait synthesis in biped robot

Proceedings of the 3rd World Congress on Intelligent Control and Automation (Cat. No.00EX393) ◽

10.1109/wcica.2000.863454 ◽

2002 ◽

Cited By ~ 1

Author(s):

Yongxue Zhang ◽

Qiang Wang ◽

Wenyi Qiang ◽

Peichen Fu

Keyword(s):

Biped Robot ◽

New Method ◽

Gait Synthesis

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Gait synthesis for a 12-degree-of-freedom biped robot by the LIPM

2018 XX Congreso Mexicano de Robótica (COMRob) ◽

10.1109/comrob.2018.8689121 ◽

2018 ◽

Author(s):

Christian Alberto Matilde Dominguez ◽

Eduardo Morales Sanchez ◽

Gerardo Israel Perez Soto

Keyword(s):

Biped Robot ◽

Degree Of Freedom ◽

Gait Synthesis

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Gait synthesis for the SD-2 biped robot to climb sloping surface

IEEE Transactions on Robotics and Automation ◽

10.1109/70.88120 ◽

1990 ◽

Vol 6 (1) ◽

pp. 86-96 ◽

Cited By ~ 141

Author(s):

Y.F. Zheng ◽

J. Shen

Keyword(s):

Biped Robot ◽

Gait Synthesis ◽

Sloping Surface

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Genetic algorithm-based optimal bipedal walking gait synthesis considering tradeoff between stability margin and speed

Robotica ◽

10.1017/s026357470800475x ◽

2009 ◽

Vol 27 (3) ◽

pp. 355-365 ◽

Cited By ~ 42

Author(s):

Goswami Dip ◽

Vadakkepat Prahlad ◽

Phung Duc Kien

Keyword(s):

Genetic Algorithm ◽

Degrees Of Freedom ◽

Walking Speed ◽

Stability Margin ◽

Biped Robot ◽

Bipedal Walking ◽

Step Size ◽

Walking Gait ◽

Gait Synthesis ◽

The Stability

SUMMARYThe inverse kinematics of a 12 degrees-of-freedom (DOFs) biped robot is formulated in terms of certain parameters. The biped walking gaits are developed using the parameters. The walking gaits are optimized using genetic algorithm (GA). The optimization is carried out considering relative importance of stability margin and walking speed. The stability margin depends on the position of zero-moment-point (ZMP) while walking speed varies with step-size. The ZMP is computed by an approximation-based method which does not require system dynamics. The optimal walking gaits are experimentally realized on a biped robot.

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Gait synthesis for a biped robot climbing sloping surfaces using neural networks. II. Dynamic learning

Proceedings 1992 IEEE International Conference on Robotics and Automation ◽

10.1109/robot.1992.220049 ◽

2003 ◽

Cited By ~ 16

Author(s):

A.W. Salatian ◽

Y.F. Zheng

Keyword(s):

Neural Networks ◽

Biped Robot ◽

Dynamic Learning ◽

Gait Synthesis

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An on-line gait synthesis strategy for biped robot with Capture Points combining with RNS

Proceeding of the 11th World Congress on Intelligent Control and Automation ◽

10.1109/wcica.2014.7052849 ◽

2014 ◽

Author(s):

Fei Wang ◽

Shuying Zhao ◽

Jing Xu ◽

Yu Liu

Keyword(s):

Biped Robot ◽

Synthesis Strategy ◽

On Line ◽

Gait Synthesis

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Gait Synthesis for a biped robot

Robotica ◽

10.1017/s0263574797000726 ◽

1997 ◽

Vol 15 (6) ◽

pp. 599-607 ◽

Cited By ~ 27

Author(s):

Ching-Long Shih

Keyword(s):

Experimental Verification ◽

Biped Robot ◽

Variable Length ◽

Biped Walking ◽

Motion Trajectories ◽

Gait Synthesis ◽

Cubic Polynomials

In this paper, the realization of biped walking on even floor, sloping surfaces, and stairs is studied. The motion trajectories for the biped's body and its two feet are modeled by piecewise cubic polynomials. The main features of the biped robot include two variable-length legs and a moving weight which can be positioned side-to-side for balance. The contribution of this paper is gait synthesis and is experimental verification.

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