DYNAMIC SIMULATION OF BIPED WALKING ON LOOSE SOIL

Most of the studies on biped walking on even or uneven terrain have assumed stiff ground. This paper proposes a dynamic contact model between foot and loose soil. The proposed contact model provides sinkage of the foot, slip of the sole and reactive force acting on the foot on loose soil. Sinkage of the foot and slip of the sole are calculated utilizing terramechanics model, which are important characteristics for biped robot to walk on loose soil. Reactive force acting on the foot on loose soil is calculated using spring-damper model between the foot and the deformed ground. By applying the proposed contact model to a usual dynamics simulator, dynamic sinkage and slip phenomenon during biped walking on loose soil are simulated. Additionally, in order to verify the simulation result, experiments were carried out using a humanoid robot.

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3A1-C07 Dynamic Sink Model of Loose Soil for Humanoid Robot Walking on Uneven Terrain(Humanoid (1))

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2014._3a1-c07_1 ◽

2014 ◽

Vol 2014 (0) ◽

pp. _3A1-C07_1-_3A1-C07_4

Author(s):

Yoshihito ONUKI ◽

Shunsuke KOMIZUNAI ◽

Atsushi KONNO

Keyword(s):

Humanoid Robot ◽

Uneven Terrain ◽

Loose Soil

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Novel Design of Biped Robot Using Cable Differential Joint

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.479-481.2307 ◽

2012 ◽

Vol 479-481 ◽

pp. 2307-2310 ◽

Cited By ~ 1

Author(s):

Hui Wei ◽

Mei Shuai ◽

Zhong Yu Wang

Keyword(s):

Energy Consumption ◽

Power Consumption ◽

Lower Energy ◽

Humanoid Robot ◽

Biped Robot ◽

Peak Torque ◽

Differential Mode ◽

Biped Walking ◽

Human Energy ◽

Novel Design

In this paper, a novel design of cable differential joint for biped robot is proposed. The transmission of joint is cable and operates in differential mode. Then, cable differential joints are employed to the humanoid robot BHLEG for its torque redistribution, 3-Degree of Freedom (DOF) cable differential joint for hip, one DOF joint for knee, and 2-DOF cable differential joint for ankle. According to the distribution of human energy, torque redistribution of cable differential joint can reduce the power consumption of actuator. Simultaneously, the peak torque and size of actuator is reduced. The aim of this paper is to verify a simplest mechanism for biped walking with lower energy consumption.

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Dynamic simulation and experiments for the design of a new 7-dofs biped walking leg module

Robotica ◽

10.1017/s0263574703005393 ◽

2004 ◽

Vol 22 (1) ◽

pp. 41-50 ◽

Cited By ~ 4

Author(s):

Giuseppe Carbone ◽

Yu Ogura ◽

Hun-ok Lim ◽

Atsuo Takanishi ◽

Marco Ceccarelli

Keyword(s):

Dynamic Simulation ◽

Humanoid Robot ◽

Mechanical Design ◽

Experimental Tests ◽

Biped Walking

In this paper the mechanical design for a new 7-dofs leg is investigated as a walking module for a humanoid robot. In particular, a dynamic simulation is deduced by means of a Newton-Euler formulation and implemented numerically in order to compute the needed input actuator torques. A simulation is carried out for a similar built leg prototype that is used as a walking module for WABIAN-RIV (WAseda BIped humANoid robot-Revised IV). Experimental tests are carried out on this existing leg in order to validate the proposed formulation for a similar application. Thus, the validated formulation has been used in order to design the actuators for a new leg prototype.

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

International Journal of Advanced Robotic Systems ◽

10.1177/1729881420976344 ◽

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.

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Quasi-human biped walking

Robotica ◽

10.1017/s0263574705002109 ◽

2005 ◽

Vol 24 (2) ◽

pp. 257-268 ◽

Cited By ~ 5

Author(s):

Hun-ok Lim ◽

Sang-ho Hyon ◽

Samuel A. Setiawan ◽

Atsuo Takanishi

Keyword(s):

Motion Control ◽

Continuous Time ◽

Degrees Of Freedom ◽

Biped Robot ◽

Humanoid Robots ◽

Compensation Method ◽

Biped Walking ◽

Working Space ◽

Physical Construction

Our goal is to develop biped humanoid robots capable of working stably in a human living and working space, with a focus on their physical construction and motion control. At the first stage, we have developed a human-like biped robot, WABIAN (WAseda BIped humANoid), which has a thirty-five mechanical degrees of freedom. Its height is 1.66 [m] and its weight 107.4 [kg]. In this paper, a moment compensation method is described for stability, which is based on the motion of its head, legs and arms. Also, a follow walking method is proposed which is based on a pattern switching technique. By a combination of both methods, the biped robot is able to perform dynamic stamping, walking forward and backward in a continuous time while someone is pushing or pulling its hand in such a way. Using WABIAN, human-fellow walking experiments are conducted, and the effectiveness of the methods are verified.

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Comparative stable walking gait optimization for small-sized biped robot using meta-heuristic optimization algorithms

Vietnam Journal of Mechanics ◽

10.15625/0866-7136/12294 ◽

2018 ◽

Vol 40 (4) ◽

pp. 407-424

Author(s):

Tran Thien Huan ◽

Ho Pham Huy Anh

Keyword(s):

Humanoid Robot ◽

Differential Evolution Algorithm ◽

Biped Robot ◽

The Novel ◽

Biped Robots ◽

Walking Gait ◽

Gait Parameters ◽

Lift Height ◽

Evolution Algorithm ◽

Gait Optimization

This paper proposes a new way to optimize the biped walking gait design for biped robots that permits stable and robust stepping with pre-set foot lifting magnitude. The new meta-heuristic CFO-Central Force Optimization algorithm is initiatively applied to optimize the biped gait parameters as to ensure to keep biped robot walking robustly and steadily. The efficiency of the proposed method is compared with the GA-Genetic Algorithm, PSO-Particle Swarm Optimization and Modified Differential Evolution algorithm (MDE). The simulated and experimental results carried on the prototype small-sized humanoid robot demonstrate that the novel meta-heuristic CFO algorithm offers an efficient and stable walking gait for biped robots with respect to a pre-set of foot-lift height value.

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Online Biped Walking Pattern Generation with Contact Consistency

IAES International Journal of Robotics and Automation (IJRA) ◽

10.11591/ijra.v4i1.pp19-30 ◽

2015 ◽

Vol 4 (1) ◽

pp. 19

Author(s):

Wenqi Hou ◽

Jian Wang ◽

Jianwen Wang ◽

Hongxu Ma

Keyword(s):

Biped Robot ◽

Gait Pattern ◽

Pattern Generation ◽

Task Space ◽

Biped Walking ◽

Foot Placement ◽

Walking Gait ◽

Walking Pattern ◽

Generating Method ◽

Stable Periodic

In this paper, a novel online biped walking gait pattern generating method with contact consistency is proposed. Generally, it’s desirable that there is no foot-ground slipping during biped walking. By treating the hip of the biped robot as a linear inverted pendulum (LIP), a foot placement controller that takes the contact consistency into account is proposed to tracking the desired orbit energy. By selecting the hip’s horizontal locomotion as the parameter, the trajectories in task space for walking are planned. A task space controller without calculating the inversion of inertial matrix is presented. Simulation experiments are implemented on a virtual 5-link point foot biped robot. The results show the effectiveness of the walking pattern generating method which can realize a stable periodic gait cycle without slipping and falling even suffering a sudden disturbance.

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