Design of a Hybrid Powered 2D Biped Walking Machine for Studying Rough Terrain Locomotion

2010 ◽  
Author(s):  
B.C. Baker ◽  
T.N. Faddis ◽  
G.P. Strunk
Keyword(s):  
Rough Terrain ◽  
Biped Walking ◽  
Walking Machine

Ski-type self-balance biped walking for rough terrain

2014 ◽  
Author(s):  
Hongfei Wang ◽  
Shimeng Li ◽  
Yuan F. Zheng ◽  
Taegoo Kim ◽  
Paul Oh
Keyword(s):  
Rough Terrain ◽  
Biped Walking

Compliance Control for Biped Walking on Rough Terrain

2008 ◽  
pp. 556-563 ◽  
Author(s):  
Masaki Ogino ◽  
Hiroyuki Toyama ◽  
Sawa Fuke ◽  
Norbert Michael Mayer ◽  
Ayako Watanabe ◽  
...  
Keyword(s):  
Rough Terrain ◽  
Compliance Control ◽  
Biped Walking

Inverse kinematics and inverse dynamics for control of a biped walking machine

1993 ◽  
Vol 10 (4) ◽  
pp. 531-555 ◽  
Author(s):  
Ching-Long Shih ◽  
William A. Gruver ◽  
Tsu-Tian Lee
Keyword(s):  
Inverse Kinematics ◽  
Inverse Dynamics ◽  
Biped Walking ◽  
Walking Machine

scholarly journals Disturbance Compensating Control of a Biped Walking Machine Based on Reflex Motions

2001 ◽  
Vol 44 (3) ◽  
pp. 724-730 ◽  
Author(s):  
Hiroaki FUNABASHI ◽  
Yukio TAKEDA ◽  
Shigenari ITOH ◽  
Masaru HIGUCHI
Keyword(s):  
Biped Walking ◽  
Walking Machine

PDAC-Based 3-D Biped Walking Adapted to Rough Terrain Environment

2012 ◽  
Vol 24 (1) ◽  
pp. 37-46 ◽  
Author(s):  
Tadayoshi Aoyama ◽  
◽  
Kosuke Sekiyama ◽  
Yasuhisa Hasegawa ◽  
Toshio Fukuda ◽  
...  
Keyword(s):  
Autonomous System ◽  
Inverted Pendulum ◽  
Point Contact ◽  
Rough Terrain ◽  
Stable Range ◽  
Biped Walking ◽  
Environmental Adaptability ◽  
The Stability ◽  
Walking Adaptability ◽  
Biped Walking Control

This paper deals with the 3-D biped walking of a humanoid type robot over rough terrain. We previously proposed efficient 3-D biped walking control using Passive Dynamic Autonomous Control (PDAC) based on the assumption of point-contact and virtual holonomic constraint of robot joints. Walking adaptability has not, however, been analyzed. We thus analyze the environmental adaptability of PDAC-based walking method in this paper. The robot is modeled as a variable-length 3-D inverted pendulum whose dynamics is modeled as a 2-D autonomous system by applying PDAC. We analyze the stability of the 2-D autonomous system using a Poincaré map and derive the stable range of uneven height over rough terrain. We then experimentally validate 3-D biped walking on unknown rough terrain using our humanoid type robot, Gorilla Robot III.

scholarly journals A Robot that Walks; Emergent Behaviors from a Carefully Evolved Network

1989 ◽  
Vol 1 (2) ◽  
pp. 253-262 ◽  
Author(s):  
Rodney A. Brooks
Keyword(s):  
Infrared Spectrum ◽  
Rough Terrain ◽  
Motor Tasks ◽  
Decentralized Networks ◽  
Walking Machine ◽  
Sensory Motor ◽  
Structured System ◽  
And Behavior ◽  
Emergent Behaviors

Most animals have significant behavioral expertise built in without having to explicitly learn it all from scratch. This expertise is a product of evolution of the organism; it can be viewed as a very long-term form of learning which provides a structured system within which individuals might learn more specialized skills or abilities. This paper suggests one possible mechanism for analagous robot evolution by describing a carefully designed series of networks, each one being a strict augmentation of the previous one, which control a six-legged walking machine capable of walking over rough terrain and following a person passively sensed in the infrared spectrum. As the completely decentralized networks are augmented, the robot's performance and behavior repertoire demonstrably improve. The rationale for such demonstrations is that they may provide a hint as to the requirements for automatically building massive networks to carry out complex sensory-motor tasks. The experiments with an actual robot ensure that an essence of reality is maintained and that no critical disabling problems have been ignored.

Sign in / Sign up

Export Citation Format

Share Document