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Controlled Recurrence of a Biped with Torso [article]

Adrien Le Coënt, Laurent Fribourg
2019 arXiv   pre-print
We illustrate the method through the example of a biped robot with 6 state variables, using a proportional-derivative (PD) controller.  ...  We show here how the method can be extended in order to control the stability of more general hybrid systems with guard conditions and state resets.  ...  Controlled Recurrence Method In the context of the biped robot with torso [5] , the state x is a vector of dimension 6 of the form (θ 1 ,θ 2 ,θ 3 , θ 1 , θ 2 , θ 3 ), where θ 1 (resp. θ 2 , θ 3 ) is the  ... 
arXiv:1903.10746v1 fatcat:wrvas2grrnenrkyaggrxudfrcu

Real time implementation of CTRNN and BPTT algorithm to learn on-line biped robot balance: Experiments on the standing posture

Patrick Hénaff, Vincent Scesa, Fethi Ben Ouezdou, Olivier Bruneau
2011 Control Engineering Practice  
Experiments are carried out to control the balance of a biped robot prototype in its standing posture.  ...  This paper describes experimental results regarding the real time implementation of continuous time recurrent neural networks (CTRNN) and the dynamic back-propagation through time (BPTT) algorithm for  ...  A simplified torso for balance control The human upper body can be modeled with 13 degrees of freedom, which is not an easy to mechanism control.  ... 
doi:10.1016/j.conengprac.2010.10.002 fatcat:lzh57x32obdupfzpdmhr3erumq

An Improved eXtended Classifier System for the Real-time-input Real-time-output (XCSRR) Stability Control of a Biped Robot

A. Sabzehzar, W.L. Shan, M. Shariat Panahi, O. Saremi
2015 Procedia Computer Science  
As a case study, we use XCSRR to control the stability of a biped robot, which is subjected to unknown external forces that would disturb the robot equilibrium.  ...  In this paper a revised reinforcement learning method is presented for stability control problems with real-value inputs and outputs.  ...  In this study, we build up a XCSRR controller with continues-valued input and output to keep the online balance of the bipedal robot with one arm in the standing posture during the disturbance of external  ... 
doi:10.1016/j.procs.2015.09.198 fatcat:q4x6j4heofdb3lyei7jtpq6qsm

Teach Biped Robots to Walk via Gait Principles and Reinforcement Learning with Adversarial Critics [article]

Kuangen Zhang, Zhimin Hou, Clarence W. de Silva, Haoyong Yu, and Chenglong Fu
2019 arXiv   pre-print
Controlling a biped robot to walk stably is a challenging task considering its nonlinearity and hybrid dynamics.  ...  Besides, an Adversarial Twin Delayed Deep Deterministic (ATD3) policy gradient algorithm with a recurrent neural network (RNN) is proposed to further boost the cumulative reward by mitigating the overestimation  ...  Then the ob-jective and the default reward of controlling such a biped robot are introduced.  ... 
arXiv:1910.10194v1 fatcat:z22ubql3g5bmvn4rnsugbmjs5y

A proposed hybrid neural network for position control of a walking robot

Şahin Yıldırım
2007 Nonlinear dynamics  
The use of a proposed recurrent neural network control system to control a four-legged walking robot is presented in this paper.  ...  The control system consists of a neural controller, a standard PD controller, and the walking robot. The robot is a planar four-legged walking robot.  ...  Acknowledgements The author wishes to acknowledge the financial support of The Scientific and Technological Research Council of Turkey (TUBITAK) and Erciyes University through the Academic research and  ... 
doi:10.1007/s11071-007-9272-8 fatcat:y2firgk7ozecnfgrg4rqawo7ru

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

Tran Thien Huan, Ho Pham Huy Anh
2018 Vietnam Journal of Mechanics  
robots with respect to a pre-set of foot-lift height value.  ...  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.  ...  ACKNOWLEDGMENT This work is fully supported by National Foundation of Science and Technology Development (NAFOSTED) under Grant 107.01-2018.10.  ... 
doi:10.15625/0866-7136/12294 fatcat:nyuquzpobfhele726ocmqiqx4u

Evolving Bipedal Locomotion with a Dynamically-Rearranging Neural Network [chapter]

Akinobu Fujii, Akio Ishiguro, Takeshi Aoki, Peter Eggenberger
2001 Lecture Notes in Computer Science  
We apply this neural network to the control of a 3{D biped robot which is intrinsically unstable.  ...  To do so, we i n troduce the concept of neuromodulation with a diusion{reaction mechanism of neuromodulators.  ...  This research w as supported in part by a grant from the Japanese Ministry of Education, Culture, Sports, Science and Technology(No.C:12650442).  ... 
doi:10.1007/3-540-44811-x_58 fatcat:5p7rr34g4jae3k5f53hfoy66nq

Adaptive fractional PID control of biped robots with time-delayed feedback

P Joel Perez, Jose P. Perez, Mayra Flores Guerrero, Ruben Perez P., Oscar Rangel Aguilar, Daniel Ramirez-V, Joey Perez F., J. Javier Perez D., W. Anggono
2019 MATEC Web of Conferences  
The proposed new control scheme is applied via simulations to control of a 4-DOF Biped Robot [1].  ...  The structure of the biped robot is designed with two degrees of freedom per leg, corresponding to the knee and hip joints.  ...  Fig. 1 . 1 Adaptive recurrent control diagram. Fig. 2 . 2 Dynamic model of Biped Robot. Fig. 3 . 3 A phase space trajectory of Duffing equation.  ... 
doi:10.1051/matecconf/201927701007 fatcat:tmww7mjtord4zpc6yfuuimcdqa

Multi-step limit cycle generation for Rabbit's walking based on a nonlinear low dimensional predictive control scheme

Ahmed Chemori, Mazen Alamir
2006 Mechatronics (Oxford)  
9 In this paper, a new nonlinear predictive control scheme is proposed for a five-link planar under-actuated biped walking robot.  ...  a candidate region of attraction.  ...  Computation time evaluation 797 In order to evaluate the computation time of the pro-798 posed control scheme, let us consider biped walking for 799 50 steps with a constant speed.  ... 
doi:10.1016/j.mechatronics.2005.12.001 fatcat:nw7ppzsh4zfmvbjmtcl7i5la6e

Neuromodulated Control of Bipedal Locomotion Using a Polymorphic CPG Circuit

Akio Ishiguro, Akinobu Fujii, Peter Eggenberger Hotz
2003 Adaptive Behavior  
The importance of an adaptive controller is illustrated with the simulations of biped walking on uneven terrain, and the results show that the biped robot successfully copes with environmental perturbation  ...  To verify the feasibility of this approach, this concept is applied to the control of a three-dimensional biped robot that is intrinsically unstable.  ...  Acknowledgments This research is supported in part by a grant from the Japanese Ministry of Education, Culture, Sports, Science, and Technology (No.  ... 
doi:10.1177/10597123030111001 fatcat:dd57zvmg65h7neo7kd4h3q3e5u

Disturbance Rejection for Biped Humanoids

Sang-Ho Hyon, Gordon Cheng
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
It is composed of three subcontrollers; 1) a balancing controller; 2) a stepping controller; and 3) the trigger.  ...  This paper proposes a simple passivity-based disturbance rejection scheme for force-controllable biped humanoids.  ...  ACKNOWLEDGEMENT The authors would like to thank the support of SARCOS Inc. and the Keihanna branch of the National Institute of Communication Telecommunication (NiCT), Japan.  ... 
doi:10.1109/robot.2007.363868 dblp:conf/icra/HyonC07 fatcat:xielft2xjndxhmm7kf5dcuvbga

Trajectory Tracking Using Adaptive Fractional PID Control of Biped Robots with Time-Delay Feedback [chapter]

Joel Perez Padron, Jose P. Perez, C.F. Mendez-Barrios, V. Ramírez-Rivera
2020 Becoming Human with Humanoid - From Physical Interaction to Social Intelligence  
of non-linear systems, we will apply it in this chapter to a bipedal robot.  ...  The structure of the biped robot is designed with two degrees of freedom per leg, corresponding to the knee and hip joints.  ...  The proposed new control scheme is applied via simulations to control of a 4-DOF Biped Robot [1] .  ... 
doi:10.5772/intechopen.90901 fatcat:rnukm42sefa57cstlebiv3td4y

Experiments on Embodied Cognition: A Bio-Inspired Approach for Robust Biped Locomotion [chapter]

Frank Kirchner, Sebastian Bartsch, Jose DeGe
2007 Humanoid Robots: New Developments  
Robust Biped Locomotion Control In this section we describe an experiment with a humanoid robot that achieves robust locomotion in the absence of a kinematical model.  ...  Some of them are good at manipulating objects with anthropomorphic arms but move over a wheeled platform. Some others walk on two legs but lack of a torso and arms.  ...  However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body.  ... 
doi:10.5772/4883 fatcat:v6yzlo6i3nch5jqf5b3zlzy5ii

Evaluating the Effect of a Flexible Spine on the Evolution of Quadrupedal Gaits

Jared M. Moore, Craig P. McGowan, Philip K. McKinley
2015 07/20/2015-07/24/2015  
Moreover, evolving the degree of spine flexibility along with artificial neural network controllers produces the highest performing solutions.  ...  Animals demonstrate a level of agility currently unmatched in their robotic counterparts. The elasticity of muscles and tendons increase not only performance, but also the efficiency of movements.  ...  Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the National Science Foundation or other research  ... 
doi:10.7551/978-0-262-33027-5-ch035 dblp:conf/ecal/MooreMM15 fatcat:3wx7ajmnozhf3dtg3ibvftw7ja

Special Feature on Bio-Inspired Robotics

Toshio Fukuda, Fei Chen, Qing Shi
2018 Applied Sciences  
Conflicts of Interest: The authors declare no conflict of interest.  ...  Biped Robots Yang et al. perform a review summarizing the chronological historical development of bipedal robots and introducing some current popular bipedal robots.  ...  In the Neural Inverse Optimal Control scheme, a neural identifier, based on Recurrent High Orden Neural Network trained with an extended kalman filter algorithm, is used to obtain a model of the system  ... 
doi:10.3390/app8050817 fatcat:umcpvvryxbfnvlmwvlcmsynj3q
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