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Controlled Recurrence of a Biped with Torso
[article]
2019
arXiv
pre-print
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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
2011
Control Engineering Practice
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2020 pre-print arXiv:2011.06910v1 fatcat:2iekvvldvfhhxblkmd45r6weby
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
2015
Procedia Computer Science
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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]
2019
arXiv
pre-print
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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
2007
Nonlinear dynamics
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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
2018
Vietnam Journal of Mechanics
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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]
2001
Lecture Notes in Computer Science
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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
2019
MATEC Web of Conferences
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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
2006
Mechatronics (Oxford)
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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
2003
Adaptive Behavior
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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
2007
Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on
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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]
2020
Becoming Human with Humanoid - From Physical Interaction to Social Intelligence
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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]
2007
Humanoid Robots: New Developments
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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
2015
07/20/2015-07/24/2015
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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
2018
Applied Sciences
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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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