Gait Planning Research for Biped Robot with Heterogeneous Legs

2010 ◽  
pp. 693-698
Author(s):  
Jun Xiao ◽  
Xing Song ◽  
Jie Su ◽  
Xinhe Xu
Keyword(s):  
Biped Robot ◽  
Gait Planning

scholarly journals Optimized stable gait planning of biped robot using multi-objective evolutionary JAYA algorithm

2020 ◽  
Vol 17 (6) ◽  
pp. 172988142097634
Author(s):  
Huan Tran Thien ◽  
Cao Van Kien ◽  
Ho Pham Huy Anh
Keyword(s):  
Inverse Kinematics ◽  
Biped Robot ◽  
Step Length ◽  
Jaya Algorithm ◽  
Kinetic Chain ◽  
Biped Walking ◽  
Gait Planning ◽  
Multi Objective ◽  
Simulation And Experiment ◽  
Stable Gait

This article proposes a new stable biped walking pattern generator with preset step-length value, optimized by multi-objective JAYA algorithm. The biped robot is modeled as a kinetic chain of 11 links connected by 10 joints. The inverse kinematics of the biped is applied to derive the specified biped hip and feet positions. The two objectives related to the biped walking stability and the biped to follow the preset step-length magnitude have been fully investigated and Pareto optimal front of solutions has been acquired. To demonstrate the effectiveness and superiority of proposed multi-objective JAYA, the results are compared to those of MO-PSO and MO-NSGA-2 optimization approaches. The simulation and experiment results investigated over the real small-scaled biped HUBOT-4 assert that the multi-objective JAYA technique ensures an outperforming effective and stable gait planning and walking for biped with accurate preset step-length value.

Dynamic Humanoid Gait Simulation of Biped Robot Based on ADAMS

2013 ◽  
Vol 461 ◽  
pp. 894-902 ◽  
Author(s):  
Zhi Wei Yu ◽  
Li Quan Wang ◽  
Peng Wang ◽  
Zhen Dong Dai
Keyword(s):  
Lower Energy ◽  
Simulated Data ◽  
Biped Robot ◽  
Structure Design ◽  
Lower Limbs ◽  
Parallel Connection ◽  
Gait Simulation ◽  
Gait Planning ◽  
Motion Data ◽  
Dynamical Characteristics

During the design of biped robot HEUBR_1, a new structure of tandem and parallel connection is used in lower-limbs, adding toe-joints to feet. In order to make sure the rationality of humanoid structure design and feasibility of the humanoid gait planning, we built the simulating model of biped robot HEUBR_1 by using software ADAMS. The simulating model of biped robot HEUBR_1 walked stably with toe-joints in fictitious surrounding, which used the motion data exported by humanoid gait planning. During humanoid gait simulation, the biped robot kinematic and dynamical characteristics were achieved. Simulation indicates that the structure of tandem and parallel connection is rational and the method of humanoid gait planning is feasible. Humanoid walking with toe-joints has the characteristic: balanced motion, lower energy and small impact on feet. Simulated data of steady walking will be used as reference for biped robot HEUBR_1 walking experiments.

Gait Planning and Compliance Control of a Biped Robot on Stairs with Desired ZMP

2014 ◽  
Vol 47 (3) ◽  
pp. 2165-2170 ◽  
Author(s):  
Guangrong Chen ◽  
Junzheng Wang ◽  
Lipeng Wang
Keyword(s):  
Biped Robot ◽  
Compliance Control ◽  
Gait Planning

Energy-efficient bio-inspired gait planning and control for biped robot based on human locomotion analysis

2016 ◽  
Vol 13 (2) ◽  
pp. 271-282 ◽  
Author(s):  
Hongbo Zhu ◽  
Minzhou Luo ◽  
Tao Mei ◽  
Jianghai Zhao ◽  
Tao Li ◽  
...  
Keyword(s):  
Energy Efficient ◽  
Biped Robot ◽  
Human Locomotion ◽  
Gait Planning ◽  
Planning And Control ◽  
Locomotion Analysis ◽  
And Control
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