On the Walking Pattern Generators of Biped Robot

SUMMARYBiped robots have gained much attention for decades. A variety of researches have been conducted to make them able to assist or even substitute for humans in performing special tasks. In addition, studying biped robots is important in order to understand human locomotion and to develop and improve control strategies for prosthetic and orthotic limbs. This paper discusses the main challenges encountered in the design of biped robots, such as modeling, stability and their walking patterns. The subject is difficult to deal with because the biped mechanism intervenes with mechanics, control, electronics and artificial intelligence. In this paper, we collect and introduce a systematic discussion of modeling, walking pattern generators and stability for a biped robot.

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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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Biped Landing Pattern Modification Method and Walking Experiments in Outdoor Environment

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2008.p0775 ◽

2008 ◽

Vol 20 (5) ◽

pp. 775-784 ◽

Cited By ~ 18

Author(s):

Kenji Hashimoto ◽

◽

Yusuke Sugahara ◽

Hun-Ok Lim ◽

Atsuo Takanishi ◽

...

Keyword(s):

Biped Robot ◽

Stability Control ◽

Outdoor Environment ◽

Walking Robots ◽

Control Algorithms ◽

Biped Robots ◽

Uneven Terrain ◽

Walking Pattern ◽

Actual Compliance ◽

Modification Method

Many researchers have studied walking stability control for biped robots, most of which involve highly precise acceleration controls based on robot model mechanics. Modeling error, however, makes the control algorithms used difficult to apply to biped walking robots intended to transport human users. The “landing pattern modification method” we propose is based on nonlinear admittance control. Theoretical compliance displacement calculated from walking patterns is compared to actual compliance displacement, when a robot's foot contacts slightly uneven terrain. Terrain height is detected and the preset walking pattern is modified accordingly. The new biped foot we also propose forms larger support polygons on uneven terrain than conventional biped foot systems do. Combining our new modification method and foot, a human-carrying biped robot can traverse uneven terrain, as confirmed in walking experiments.

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