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Bipedal Model Based on Human Gait Pattern Parameters for Sagittal Plane Movement [article]

Vijay Bhaskar Semwal, S.A.Katiyar, P.Chakraborty, G.C.Nandi
2014 arXiv   pre-print
This development is a big step in way to prove that push recovery is a software engineering problem and not hardware engineering problem.  ...  The walking algorithm used here aims to select a subset of push recovery problem i.e. disturbance from environment. We applied the physics at each joint of Halo with some degree of freedom.  ...  Human Push recovery capability is a learning process which human being learns through a continuous evolution process.  ... 
arXiv:1405.4362v1 fatcat:yu65bqvpfrf4rax6wboz2xogx4

Walking Control Based on Step Timing Adaptation [article]

Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian, Ludovic Righetti
2020 arXiv   pre-print
Extensive simulations on a humanoid robot with passive ankles demonstrate the capabilities of the approach in various walking situations, including external pushes and foot slippage, and emphasize the  ...  Using this insight, we propose a novel walking pattern generator that optimally selects step location and timing at every control cycle.  ...  We study push recovery capabilities and show the importance of step timing adaptation. We then compare our controller with a standard MPC-based walking controller [20] . A.  ... 
arXiv:1704.01271v3 fatcat:eb37kf4tbbh6phzggdzikh4xqu

Online learning of foot placement for balanced bipedal walking

Marcell Missura, Sven Behnke
2014 2014 IEEE-RAS International Conference on Humanoid Robots  
To quickly adapt the produced step sizes from learned experience, we update an online-capable function approximator with a pendulum-cart motivated gradient function that incorporates the trade-off between  ...  Due to the high complexity of the humanoid body, and its inherently unstable inverted pendulum-like dynamics, the development of a robust and versatile walking controller proves to be a difficult task.  ...  The widespread state of the art covers basic walking skills on a flat surface without disturbances. Push recovery, walking on rough terrain, and agile step control are active research topics.  ... 
doi:10.1109/humanoids.2014.7041379 dblp:conf/humanoids/MissuraB14 fatcat:xowuebyumrbsvj2nwyp5xmzgbe

Push recovery and online gait generation for 3D bipeds with the foot placement estimator

Brandon J DeHart, Dana Kulic
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
In this work, a 3D formulation of the Foot Placement Estimator is used with a high-level control strategy to achieve a dynamic gait capable of handling external disturbances.  ...  However, generating a reliable gait for biped robots is challenging, particularly for dynamic gait and in the presence of unknown external disturbances, such as a bump from someone walking by.  ...  In [13] , the "3D FPE" is defined, based on an "Euler pendulum" monoped model with a disc foot, such that their model is a direct 3D extension of the planar compass biped in [10] .  ... 
doi:10.1109/icra.2014.6907115 dblp:conf/icra/DeHartK14 fatcat:c2f63n2c3balxijnstmo74dwdm

Robust Bipedal Locomotion Control Based on Model Predictive Control and Divergent Component of Motion [article]

Milad Shafiee-Ashtiani, Aghil Yousefi-Koma, Masoud Shariat-Panahi
2017 arXiv   pre-print
surfaces with a very limited feasible area for stepping.  ...  Using our scheme, a general and robust walking controller is designed which can be implemented on robots with different control authorities, for walking on various environments, e.g. uneven terrains or  ...  DCM BASED MODEL PREDICTIVE CONTROLLER In this section, we employ the MPC framework and the DCM dynamics to come up with a unified and robust framework for walking control of a biped robot.  ... 
arXiv:1702.08742v1 fatcat:s2uh23dswbdxnfhe46p6diqurq

Effects of a neuromuscular controller on a powered ankle exoskeleton during human walking

Florin Dzeladini, Amy R. Wu, Daniel Renjewski, Arash Arami, Etienne Burdet, Edwin van Asseldonk, Herman van der Kooij, Auke J. Ijspeert
2016 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)  
We present (i) a Simulink neuromuscular control library derived from a computational model of reflexive neuromuscular control of human gait with a central pattern generator (CPG) extension, (ii) an ankle  ...  To design such a controller, we investigated a bio-inspired walking controller for orthoses and prostheses.  ...  This can be either joint-based (e.g. ankle controller to assist push-off as in this paper, or hip controller to assist a patient with weak hip function) or muscle-based (e.g. assist only ankle extensors  ... 
doi:10.1109/biorob.2016.7523694 dblp:conf/biorob/DzeladiniWRABAK16 fatcat:vayo3tyyzfhzxnfo3jfud4bcmm

No falls, no resets: Reliable humanoid behavior in the DARPA robotics challenge

C. G. Atkeson, B. P. W. Babu, N. Banerjee, D. Berenson, C. P. Bove, X. Cui, M. DeDonato, R. Du, S. Feng, P. Franklin, M. Gennert, J. P. Graff (+11 others)
2015 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)  
We implemented safety features in our controller to detect potential catastrophic failures, stop the current behavior, and allow remote intervention by a human supervisor.  ...  We were the only team in the DRC Finals that attempted all tasks, scored points (14/16), did not require physical human intervention (a reset), and did not fall in the two missions during the two days  ...  On the other hand, the controller is capable of more dynamic walking, and we have achieved 0.4m/s walking reliably by just speeding up the cadence (step time 0.8s, stride period 1.6s).  ... 
doi:10.1109/humanoids.2015.7363436 dblp:conf/humanoids/AtkesonBBBBCDDF15 fatcat:a3ngxnyf2fhedoy5swwhq3w544

Assessing the environmental and economic sustainability of autonomous systems: A case study in the agricultural industry

Michael Saidani, Erik Pan, Harrison Kim, Andrew Greenlee, Jason Wattonville, Bernard Yannou, Yann Leroy, François Cluzel
2020 Procedia CIRP  
While autonomous machines are considered as a new opportunity to augment safety, reliability, productivity, and efficiency, the actual environmental and economic sustainability performances of many autonomous  ...  -gasoline-and electricity-powered -pushing mowers (human-operated counterparts).  ...  For the electric-powered mowers (both for the robotic and pushing ones), the U.S. electricity mix has been used, based on the GREET model, and at an average cost of $0.12 per kWh.  ... 
doi:10.1016/j.procir.2020.02.123 fatcat:5ksvf3dklndqdfd6ne25qvlkye

Omnidirectional capture steps for bipedal walking

Marcell Missura, Sven Behnke
2013 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)  
The calculation of the timing, the footstep locations, and the zero moment point is based on the linear inverted pendulum model and can be computed efficiently in closed form.  ...  Aside from the challenge of generating a walking motion itself, closedloop algorithms are required to maintain the balance of the robot using foot placements and other disturbance-rejection strategies.  ...  These systems can walk reliably on flat ground and have the ability to cope with weak disturbances.  ... 
doi:10.1109/humanoids.2013.7029949 fatcat:h54tonvc6ncf3oxhpmmgqp4sdy

The Automated Fault-recovery for Four-legged Robots using Parallel Genetic Algorithm

Hyunsoo Park, Kyung Joong Kim
2013 Procedia Computer Science  
On the other hand, Biological entities have capability to create new behaviors overcoming unexpected damage on their body.  ...  In this paper, we propose to use a bioinspired learning algorithm to generate new behaviors on a four-legged robot against unexpected body damages.  ...  Because the evolution requires complicated robot simulation with a physics engine, therefore the evaluation stage becomes a bottleneck for rapid adaptation.  ... 
doi:10.1016/j.procs.2013.10.039 fatcat:u23mcc6spvekrbzo4uwrflkpi4

Resilience-Based Component Importance Measures for Critical Infrastructure Network Systems

Yi-Ping Fang, Nicola Pedroni, Enrico Zio
2016 IEEE Transactions on Reliability  
to a time delay in the recovery of a failed component, respectively.  ...  Numerical results are obtained for the IEEE 30-bus test network and a comparison is made with three classical centrality measures.  ...  Actually, the existing centrality indices and the CIMs in the reliability engineering literature are not appropriate to help implement resilience planning because they do not take into account system recovery  ... 
doi:10.1109/tr.2016.2521761 fatcat:ivkjr377bjbm5olrhdsmfwvisa

Design a Fall Recovery Strategy for a Wheel-Legged Quadruped Robot Using Stability Feature Space

Juan Alejandro Castano, Chengxu Zhou, Nikos Tsagarakis
2019 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)  
This paper introduces the details of how the presented conceptual analysis provides and an effective fall recovery routine for CENTAURO based on a state machine.  ...  This robot, which is equipped with a custom hybrid wheellegged mobility system, have good intrinsic stability as other quadrupeds.  ...  dynamic walking.  ... 
doi:10.1109/robio49542.2019.8961722 dblp:conf/robio/CastanoZT19 fatcat:ggp35ylrmbdnfkyqsnxj3hrdkq

Computational Modeling: Human Dynamic Model

Lijia Liu, Joseph L. Cooper, Dana H. Ballard
2021 Frontiers in Neurorobotics  
The model has a two-foot stance ability, capable of generating results comparable with an experiment done with subjects, and illustrates the uncontrolled manifold concept.  ...  This paper describes a physics-based movement analysis method for analyzing and simulating bipedal humanoid movements.  ...  FIGURE 4 | Model capability illustration. A complex jump sequence reproduced with physics-engine-based inverse dynamics using recorded motion capture data from a human subject.  ... 
doi:10.3389/fnbot.2021.723428 pmid:34630065 pmcid:PMC8500180 fatcat:inrl22doenfjtmh4insoj26qlu

Design of a bipedal walking robot

Jerry Pratt, Ben Krupp, Grant R. Gerhart, Douglas W. Gage, Charles M. Shoemaker
2008 Unmanned Systems Technology X  
Our previous work with the robot Spring Flamingo 1,10,11 has shown that good force control leads to simple yet reliable algorithms for walking over rolling terrain.  ...  We present the mechanical design of a bipedal walking robot named M2V2, as well as control strategies to be implemented for walking and balance recovery.  ...  DESIGN Critical Specifications and Prior Work A bipedal robot that is suitable for dynamic walking, balancing and push recovery (and to that end, capable of implementing Capture Points, Virtual Model  ... 
doi:10.1117/12.777973 fatcat:npv4ernuhrbtriffhkwxmywfji

NIMBRO-OP2X: Affordable Adult-sized 3D-printed Open-Source Humanoid Robot for Research

Grzegorz Ficht, Hafez Farazi, Diego Rodriguez, Dmytro Pavlichenko, Philipp Allgeuer, Andre Brandenburger, Sven Behnke
2020 International Journal of Humanoid Robotics  
In this paper, we present the NimbRo-OP2X, a capable and affordable adult-sized humanoid platform aiming to significantly lower the entry barrier for humanoid robot research.  ...  With a height of 135 cm and weight of only 19 kg, the robot can interact in an unmodified, human environment without special safety equipment.  ...  In the Push Recovery technical challenge, an external disturbance is applied by a 3 kg heavy pendulum swinging on a 1.5 m long string.  ... 
doi:10.1142/s0219843620500218 fatcat:habn2fyoqbg63emvpghdn3uitq
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