Intelligent Algorithm for Biped Robot for Harvesting Watermelons

1999 ◽  
Vol 11 (3) ◽  
pp. 183-192 ◽  
Author(s):  
Ken'ichi Ogasawara ◽  
◽  
Masaki Arao ◽  
Shigeyasu Kawaji ◽  
◽  
...  
Keyword(s):  
Control Strategy ◽  
A Priori ◽  
High Mobility ◽  
Biped Robot ◽  
Bipedal Locomotion ◽  
Intelligent Algorithm ◽  
Biped Robots ◽  
Farm Work ◽  
Current State ◽  
Locomotion Rhythm

Farm working usually involves a harsh environment such as limited work space and soft, unstable or uneven surfaces. High mobility even in such an environment is essential for automating agricultural tasks. Bipedal locomotion is an example of such mobility, but it is statically unstable. Biped robots for farm work must be controlled dynamically to maintain unstable equilibrium. No decisive control strategy for this problem had been mapped. Noting that biped locomotion is periodic and governed by a characteristic rhythm, we proposed control strategy based on locomotion rhythm. In an uncertain environment, the reference rhythm should be modified corresponding to its current state for realizing stable walking. We introduce the concept of ""compliance"" in our rhythm-based locomotion control to modify a priori defined reference rhythm so that the robot maintains its balance. Simulations and experiments demonstrate the feasibility of stable walking in an unfavorably environment.

scholarly journals Effects of Torso Pitch Motion on Energy Efficiency of Biped Robot Walking

2021 ◽  
Vol 11 (5) ◽  
pp. 2342
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Biped Robots ◽  
Pitch Motion ◽  
Double Support ◽  
Gait Parameters ◽  
Support Phase

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait pattern generation methods, it is usually assumed that the torso keeps vertical during walking. It is very intuitive and simple. However, it may not be the most efficient. In this paper, we propose a gait pattern with torso pitch motion (TPM) during walking. We also present a gait pattern with torso keeping vertical (TKV) to study the effects of TPM on energy efficiency of biped robots. We define the cyclic gait of a five-link biped robot with several gait parameters. The gait parameters are determined by optimization. The optimization criterion is chosen to minimize the energy consumption per unit distance of the biped robot. Under this criterion, the optimal gait performances of TPM and TKV are compared over different step lengths and different gait periods. It is observed that (1) TPM saves more than 12% energy on average compared with TKV, and the main factor of energy-saving in TPM is the reduction of energy consumption of the swing knee in the double support phase and (2) the overall trend of torso motion is leaning forward in double support phase and leaning backward in single support phase, and the amplitude of the torso pitch motion increases as gait period or step length increases.

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

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.

scholarly journals Online Control for Biped Robot with Incremental Learning Mechanism

2021 ◽  
Vol 11 (18) ◽  
pp. 8599
Author(s):  
Liang Yang ◽  
Guanyu Lai ◽  
Yong Chen ◽  
Zhihui Guo
Keyword(s):  
Incremental Learning ◽  
Technical Problem ◽  
Dynamic Environment ◽  
Biped Robot ◽  
Training Data ◽  
Dynamics Simulation ◽  
Iteration Algorithm ◽  
Biped Robots ◽  
Learning Mechanism ◽  
Interval Type

In this paper, we develop a new online walking controller for biped robots, which integrates a neural-network estimator and an incremental learning mechanism to improve the control performance in dynamic environment. With the aid of an iteration algorithm for updating, some newly incoming data can be used straightforwardly to update into the original well-trained model, in order to avoid a time-consuming retraining procedure. On the other hand, how to maintain the zero-moment-point stability and counteract the effect of yaw moment simultaneously is also a key technical problem to be addressed. To this end, an interval type-2 fuzzy weight identifier is newly developed, which assigns weight for each walking sample to deal with the imbalanced distribution problem of training data. The effectiveness of the proposed control scheme has been verified through a full-dynamics simulation and a practical robot experiment.

scholarly journals Locomotor Requirements for Bipedal Locomotion: A Delphi Survey

2014 ◽  
Vol 94 (1) ◽  
pp. 52-67 ◽  
Author(s):  
Lois Deming Hedman ◽  
David M. Morris ◽  
Cecilia L. Graham ◽  
Cynthia J. Brown ◽  
Matthew P. Ford ◽  
...  
Keyword(s):  
Electronic Mail ◽  
Physical Therapists ◽  
Dynamic Balance ◽  
A Priori ◽  
Time Frame ◽  
Delphi Survey ◽  
Bipedal Locomotion ◽  
Strongly Agree ◽  
Design And Methods ◽  
Partial Consensus

BackgroundBipedal locomotor control requirements may be useful as classifications for walking dysfunction because they go beyond gait analysis to address all issues contributing to walking dysfunction.ObjectiveThe objective of this study was to determine whether locomotor experts could achieve consensus about the requirements for bipedal locomotion.Design and MethodsLocomotor experts from physical therapy and other related professions participated in an electronic mail Delphi survey. Experts recommended additions, deletions, rewording, and merges for 15 proposed locomotor requirements in round 1. In rounds 2 and 3, panelists commented on and rated the validity, mutual exclusiveness, and understandability of each requirement. Consensus was defined a priori as: (1) 75% or more panelists agree or strongly agree that a requirement is valid, mutually exclusive, and understandable in round 3; (2) no difference between round 2 and 3 ratings with kappa coefficients ≥.60; and (3) a reduction in panelists who commented and convergence of comments between rounds 1 and 3. Content analysis and nonparametric statistics were used.ResultsFifty-eight panelists reached full consensus on 5 locomotor requirements (Initiation, Termination, Anticipatory Dynamic Balance, Multi-Task Capacity, and Walking Confidence) and partial consensus for 7 other requirements. There were no significant differences in ratings between rounds 2 and 3, and there was a decrease in the percentage of panelists who commented between rounds 1 and 3.LimitationsThe study's 6-month time frame may have contributed to panelist attrition.ConclusionsLocomotor experts achieved consensus on several bipedal locomotor requirements. With validation, these requirements can provide the framework for a clinically feasible and systematic diagnostic tool for physical therapists to categorize locomotor problems and standardize intervention for walking dysfunction.

Gait Transition Control of a Biped Robot from Quadrupedal to Bipedal Locomotion Based on Central Pattern Generator, Phase Resetting, and Kinematic Synergy

2013 ◽  
pp. 11-24
Author(s):  
Shinya Aoi
Keyword(s):  
Control System ◽  
Central Pattern Generator ◽  
Biped Robot ◽  
Pattern Generator ◽  
Bipedal Locomotion ◽  
Phase Resetting ◽  
Gait Transition ◽  
Gait Patterns ◽  
Transition Control ◽  
The Stability

Recently, interest in the study of legged robots has increased, and various gait patterns of the robots have been established. However, unlike humans and animals, these robots still have difficulties in achieving adaptive locomotion, and a huge gap remains between them. This chapter deals with the gait transition of a biped robot from quadrupedal to bipedal locomotion. This gait transition requires drastic changes in the robot posture and the reduction of the number of supporting limbs, so the stability greatly changes during the transition. A locomotion control system is designed to achieve the gait transition based on the physiological concepts of central pattern generator, phase resetting, and kinematic synergy, and the usefulness of this control system is verified by the robot experiment.

scholarly journals A Model Free Control Based on Machine Learning for Energy Converters in an Array

2018 ◽  
Vol 2 (4) ◽  
pp. 36 ◽  
Author(s):  
Simon Thomas ◽  
Marianna Giassi ◽  
Mikael Eriksson ◽  
Malin Göteman ◽  
Jan Isberg ◽  
...  
Keyword(s):  
Machine Learning ◽  
Numerical Simulations ◽  
Control Strategy ◽  
A Priori ◽  
Physical Model Test ◽  
Damping Factor ◽  
Wave Energy Converters ◽  
Model Free ◽  
Physical Scale ◽  
Energy Converters

This paper introduces a machine learning based control strategy for energy converter arrays designed to work under realistic conditions where the optimal control parameter can not be obtained analytically. The control strategy neither relies on a mathematical model, nor does it need a priori information about the energy medium. Therefore several identical energy converters are arranged so that they are affected simultaneously by the energy medium. Each device uses a different control strategy, of which at least one has to be the machine learning approach presented in this paper. During operation all energy converters record the absorbed power and control output; the machine learning device gets the data from the converter with the highest power absorption and so learns the best performing control strategy for each situation. Consequently, the overall network has a better overall performance than each individual strategy. This concept is evaluated for wave energy converters (WECs) with numerical simulations and experiments with physical scale models in a wave tank. In the first of two numerical simulations, the learnable WEC works in an array with four WECs applying a constant damping factor. In the second simulation, two learnable WECs were learning with each other. It showed that in the first test the WEC was able to absorb as much as the best constant damping WEC, while in the second run it could absorb even slightly more. During the physical model test, the ANN showed its ability to select the better of two possible damping coefficients based on real world input data.

A force-resisting balance control strategy for a walking biped robot under an unknown, continuous force

Robotica ◽  
2014 ◽  
Vol 34 (7) ◽  
pp. 1495-1516
Author(s):  
Yeoun-Jae Kim ◽  
Joon-Yong Lee ◽  
Ju-Jang Lee
Keyword(s):  
External Force ◽  
Control Strategy ◽  
Balance Control ◽  
Biped Robot ◽  
Second Step ◽  
Double Support ◽  
Zero Moment ◽  
External Forces ◽  
Single Support Phase ◽  
Support Phase

SUMMARYIn this paper, we propose and examine a force-resisting balance control strategy for a walking biped robot under the application of a sudden unknown, continuous force. We assume that the external force is acting on the pelvis of a walking biped robot and that the external force in the z-direction is negligible compared to the external forces in the x- and y-directions. The main control strategy involves moving the zero moment point (ZMP) of the walking robot to the center of the robot's sole resisting the externally applied force. This strategy is divided into three steps. The first step is to detect an abnormal situation in which an unknown continuous force is applied by examining the position of the ZMP. The second step is to move the ZMP of the robot to the center of the sole resisting the external force. The third step is to have the biped robot convert from single support phase (SSP) to double support phase (DSP) for an increased force-resisting capability. Computer simulations and experiments of the proposed methods are performed to benchmark the suggested control strategy.

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