Compliance Control for Biped Walking on Rough Terrain

2008 ◽  
pp. 556-563 ◽  
Author(s):  
Masaki Ogino ◽  
Hiroyuki Toyama ◽  
Sawa Fuke ◽  
Norbert Michael Mayer ◽  
Ayako Watanabe ◽  
...  
Keyword(s):  
Rough Terrain ◽  
Compliance Control ◽  
Biped Walking

Ski-type self-balance biped walking for rough terrain

2014 ◽  
Author(s):  
Hongfei Wang ◽  
Shimeng Li ◽  
Yuan F. Zheng ◽  
Taegoo Kim ◽  
Paul Oh
Keyword(s):  
Rough Terrain ◽  
Biped Walking

PDAC-Based 3-D Biped Walking Adapted to Rough Terrain Environment

2012 ◽  
Vol 24 (1) ◽  
pp. 37-46 ◽  
Author(s):  
Tadayoshi Aoyama ◽  
◽  
Kosuke Sekiyama ◽  
Yasuhisa Hasegawa ◽  
Toshio Fukuda ◽  
...  
Keyword(s):  
Autonomous System ◽  
Inverted Pendulum ◽  
Point Contact ◽  
Rough Terrain ◽  
Stable Range ◽  
Biped Walking ◽  
Environmental Adaptability ◽  
The Stability ◽  
Walking Adaptability ◽  
Biped Walking Control

This paper deals with the 3-D biped walking of a humanoid type robot over rough terrain. We previously proposed efficient 3-D biped walking control using Passive Dynamic Autonomous Control (PDAC) based on the assumption of point-contact and virtual holonomic constraint of robot joints. Walking adaptability has not, however, been analyzed. We thus analyze the environmental adaptability of PDAC-based walking method in this paper. The robot is modeled as a variable-length 3-D inverted pendulum whose dynamics is modeled as a 2-D autonomous system by applying PDAC. We analyze the stability of the 2-D autonomous system using a Poincaré map and derive the stable range of uneven height over rough terrain. We then experimentally validate 3-D biped walking on unknown rough terrain using our humanoid type robot, Gorilla Robot III.

scholarly journals Minimalistic control of biped walking in rough terrain

2010 ◽  
Vol 28 (3) ◽  
pp. 355-368 ◽  
Author(s):  
Fumiya Iida ◽  
Russ Tedrake
Keyword(s):  
Rough Terrain ◽  
Biped Walking

BIPED WALKING OVER ROUGH TERRAIN BY ADAPTIVE GROUND REFERENCE MAP

2013 ◽  
Author(s):  
NING WU ◽  
CHEE-MENG CHEW ◽  
AUN NEOW POO
Keyword(s):  
Rough Terrain ◽  
Biped Walking ◽  
Reference Map
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