Quadrupedal Robotic Walking on Sloped Terrains via Exact Decomposition into Coupled Bipedal Robots

2020 ◽  
Author(s):  
Wen-Loong Ma ◽  
Noel Csomay-Shanklin ◽  
Aaron D. Ames
Keyword(s):  
Bipedal Robots

Design of a Compact Embedded Hydraulic Power Unit for Bipedal Robots

2021 ◽  
pp. 1-1
Author(s):  
Buyoun Cho ◽  
Min-Su Kim ◽  
Sung Woo Kim ◽  
Seunghoon Shin ◽  
Yeseong Jeong ◽  
...  
Keyword(s):  
Power Unit ◽  
Bipedal Robots ◽  
Hydraulic Power

Height Control and Optimal Torque Planning for Jumping With Wheeled-Bipedal Robots

2021 ◽  
Author(s):  
Yulun Zhuang ◽  
Yuan Xu ◽  
Binxin Huang ◽  
Mandan Chao ◽  
Guowei Shi ◽  
...  
Keyword(s):  
Bipedal Robots ◽  
Height Control

scholarly journals Torso height optimization for bipedal locomotion

2018 ◽  
Vol 15 (5) ◽  
pp. 172988141880444 ◽  
Author(s):  
Arne-Christoph Hildebrandt ◽  
Konstantin Ritt ◽  
Daniel Wahrmann ◽  
Robert Wittmann ◽  
Felix Sygulla ◽  
...  
Keyword(s):  
Real Time ◽  
Kinematic Model ◽  
Bipedal Locomotion ◽  
Full Potential ◽  
Normal Walking ◽  
Kinematic Range ◽  
Bipedal Robots ◽  
Uneven Terrain ◽  
2D Model

Bipedal robots can be better alternatives to other robots in certain applications, but their full potential can only be used if their entire kinematic range is cleverly exploited. Generating motions that are not only dynamically feasible but also take into account the kinematic limits as well as collisions in real time is one of the main challenges towards that goal. We present an approach to generate adaptable torso height trajectories to exploit the full kinematic range in bipedal locomotion. A simplified 2D model approximates the robot’s full kinematic model for multiple steps ahead. It is used to optimize the torso height trajectories while taking future motion kinematics into account. The method significantly improves the robot’s motion not only while walking in uneven terrain, but also during normal walking. Furthermore, we integrated the method in our framework for autonomous walking and we validated its real-time character in successfully conducted experiments.

First steps toward formal controller synthesis for bipedal robots

2015 ◽  
Author(s):  
Aaron D. Ames ◽  
Paulo Tabuada ◽  
Bastian Schürmann ◽  
Wen-Loong Ma ◽  
Shishir Kolathaya ◽  
...  
Keyword(s):  
Controller Synthesis ◽  
Bipedal Robots

Open-loop stable running

Robotica ◽  
2005 ◽  
Vol 23 (1) ◽  
pp. 21-33 ◽  
Author(s):  
Katja D. Mombaur ◽  
Richard W. Longman ◽  
Hans Georg Bock ◽  
Johannes P. Schlöder
Keyword(s):  
Optimization Methods ◽  
Open Loop ◽  
Bipedal Robots ◽  
Model Parameter ◽  
Stable Periodic ◽  
Parameter Values ◽  
Difficult Issue ◽  
Loop Stability

We present simulated monopedal and bipedal robots that are capable of open-loop stable periodic running motions without any feedback even though they have no statically stable standing positions. Running as opposed to walking involves flight phases which makes stability a particularly difficult issue. The concept of open-loop stability implies that the actuators receive purely periodic torque or force inputs that are never altered by any feedback in order to prevent the robot from falling. The design of these robots and the choice of model parameter values leading to stable motions is a difficult task that has been accomplished using newly developed stability optimization methods.

scholarly journals Center of Pressure Feedback for Controlling the Walking Stability Bipedal Robots using Fuzzy Logic Controller

2018 ◽  
Vol 8 (5) ◽  
pp. 3678
Author(s):  
Afrizal Mayub ◽  
Fahmizal Fahmizal
Keyword(s):  
Fuzzy Logic ◽  
Degrees Of Freedom ◽  
Fuzzy Logic Controller ◽  
Center Of Pressure ◽  
Bipedal Robots ◽  
Bipedal Robot ◽  
Position Information ◽  
Pressure Feedback ◽  
The Stability ◽  
Foot Pad

This paper presents a sensor-based stability walk for bipedal robots by using force sensitive resistor (FSR) sensor. To perform walk stability on uneven terrain conditions, FSR sensor is used as feedbacks to evaluate the stability of bipedal robot instead of the center of pressure (CoP). In this work, CoP that was generated from four FSR sensors placed on each foot-pad is used to evaluate the walking stability. The robot CoP position provided an indication of walk stability. The CoP position information was further evaluated with a fuzzy logic controller (FLC) to generate appropriate offset angles to be applied to meet a stable situation. Moreover, in this paper designed a FLC through CoP region's stability and stable compliance control are introduced. Finally, the performances of the proposed methods were verified with 18-degrees of freedom (DOF) kid-size bipedal robot.<br /><br />

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