Applying Dynamic Walking Control for Biped Robots

2010 ◽  
pp. 69-80 ◽  
Author(s):  
Stefan Czarnetzki ◽  
Sören Kerner ◽  
Oliver Urbann
Keyword(s):  
Dynamic Walking ◽  
Biped Robots ◽  
Walking Control

Observer-based dynamic walking control for biped robots

2009 ◽  
Vol 57 (8) ◽  
pp. 839-845 ◽  
Author(s):  
Stefan Czarnetzki ◽  
Sören Kerner ◽  
Oliver Urbann
Keyword(s):  
Dynamic Walking ◽  
Biped Robots ◽  
Walking Control

2A2-E21 Passive Dynamic Walking Control Method Based on Phase Trajectory

2010 ◽  
Vol 2010 (0) ◽  
pp. _2A2-E21_1-_2A2-E21_4
Author(s):  
Subaru WADA ◽  
Masaya ISHIMOTO ◽  
Masatora NARITA ◽  
Ivan GODLER
Keyword(s):  
Phase Trajectory ◽  
Control Method ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Walking Control

A Reinforcement Learning Based Dynamic Walking Control

2007 ◽  
Author(s):  
Yong Mao ◽  
Jiaxin Wang ◽  
Peifa Jia ◽  
Shi Li ◽  
Zhen Qiu ◽  
...  
Keyword(s):  
Reinforcement Learning ◽  
Dynamic Walking ◽  
Walking Control

scholarly journals Dynamic Walking Control of the One-Legged Robot With Controlling Rotor (Directional Walking with Yaw Angle Control)

1999 ◽  
Vol 11 (4) ◽  
pp. 298-303 ◽  
Author(s):  
Kan Taguchi ◽  
◽  
Yasuyuki Momoi ◽  
Kazuo Yamafuji ◽  
Keyword(s):  
Legged Robot ◽  
Dynamic Walking ◽  
Walking Control ◽  
Left And Right ◽  
The One ◽  
Yaw Angle

We studied stilt-like dynamic walking by a 1-legged robot with a skate-like shoe for a foot and an overhead rotor to stabilize posture. The robot remains upright by rocking the foot left and right and rotating the overhead rotor. This paper describes control for stilt-like dynamic walking combining rocking and yaw angle control.

A Study of the Sole Mechanism of Biped Robots to Rough Terrain Locomotion

2012 ◽  
Vol 24 (5) ◽  
pp. 902-907 ◽  
Author(s):  
Takumi Yokomichi ◽  
◽  
Nobuhiro Ushimi ◽  
Keyword(s):  
Biped Robot ◽  
Level Surface ◽  
Rough Terrain ◽  
Biped Robots ◽  
Walking Control

This paper describes the study of a biped robot foot sole mechanism for use in unknown rough terrain locomotion. The mechanism has a structure consisting of three toes and frictional locking and unlocking mechanisms. The mechanisms level the bottom of the biped robot’s foot by using the three toes when on unknown rough terrain. To stabilize the sole of the biped robot on a level surface, the frictional locking and unlocking mechanisms of the three toes are used for the sole mechanism. Stable walking control of the biped robot is simplified by the sole mechanism we developed.

2P1-D03 Development and Robust Walking Control of a Quasi Passive Dynamic Walking Robot with an Upper Body

2009 ◽  
Vol 2009 (0) ◽  
pp. _2P1-D03_1-_2P1-D03_2
Author(s):  
Takashi TAKIMOTO ◽  
Satoshi IKARI ◽  
Keiichi YOSHINO ◽  
Shigeru KUCHII
Keyword(s):  
Upper Body ◽  
Dynamic Walking ◽  
Walking Robot ◽  
Passive Dynamic Walking ◽  
Walking Control
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