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Generation and control of locomotion patterns for biped robots by using central pattern generators

Julián Cristiano, Domènec Puig, Miguel Angel García
2017 Journal of Physical Agents (JoPha)  
Feedback signals generated by the robot's inertial and force sensors are directly fed into the CPG in order to automatically adjust the locomotion pattern over uneven terrain and to deal with external  ...  The performance of the proposed control system has been assessed through simulation experiments on a NAO humanoid robot.  ...  Some feedback strategies are presented in order to continuously walk on various types of terrains and to deal with external perturbations. A.  ... 
doi:10.14198/jopha.2017.8.1.06 fatcat:fc5p6cyct5dn5azcregzducha4

Benchmarking Human-Like Posture and Locomotion of Humanoid Robots: A Preliminary Scheme [chapter]

Diego Torricelli, Rahman S. M. Mizanoor, Jose Gonzalez, Vittorio Lippi, Georg Hettich, Lorenz Asslaender, Maarten Weckx, Bram Vanderborght, Strahinja Dosen, Massimo Sartori, Jie Zhao, Steffen Schüetz (+6 others)
2014 Lecture Notes in Computer Science  
The EU project H2R is specifically dealing with this problem. A preliminary solution is here given to encourage the international discussion on this topic within the scientific community.  ...  This paper proposes the conceptual design of a novel benchmarking scheme for bipedal robots based on existing criteria and benchmarks related to the sensorimotor mechanisms involved in human walking and  ...  activity presented in this paper has been funded by the European Seventh Framework Programme FP7-ICT-2011-9, under the grant agreement no 60069 -H2R "Integrative Approach for the Emergence of Human-like Robot  ... 
doi:10.1007/978-3-319-09435-9_28 fatcat:cju4tc3uajcj7nruzpbmutvtky

On the Improvement of Walking Performance in Natural Environments by a Compliant Adaptive Gait

Elena Garcia, Pablo Gonzalez de Santos
2006 IEEE Transactions on robotics  
However, the use of legs as a locomotion system for vehicles and robots still has a long way to go before it can compete with wheels and trucks, even on natural ground.  ...  This paper aims to solve two main disadvantages plaguing walking robots: their inability to react to external disturbances (which is also a drawback of wheeled robots); and their extreme slowness.  ...  As a result, the proposed adaptive and compliant gait improves machine speed and stability in the presence of internal perturbations (caused by robot dynamics) and external perturbations (caused by the  ... 
doi:10.1109/tro.2006.884343 fatcat:vpv2autf3vfzrlz4i75vqe4gc4

Online Gain Adaptation of Whole-Body Control for Legged Robots with Unknown Disturbances

Jaemin Lee, Junhyeok Ahn, Donghyun Kim, Seung Hyeon Bang, Luis Sentis
2022 Frontiers in Robotics and AI  
We demonstrate that the proposed method reduces task tracking errors under the effect of external forces on the robot.  ...  Based on model approximations and stability theory, we propose three conditions to ensure that the adjusted gains are suitable for stabilizing a robot under WBC.  ...  as a means to deal with external forces.  ... 
doi:10.3389/frobt.2021.788902 pmid:35071334 pmcid:PMC8776656 fatcat:gzz3nekga5anpgninbutjdh6tu

Posture and balance control for biped robots based on contact force optimization

Christian Ott, Maximo A. Roa, Gerd Hirzinger
2011 2011 11th IEEE-RAS International Conference on Humanoid Robots  
The controller computes a desired wrench (force and torque) required to recover the posture when an unknown external perturbation has changed the posture of the robot.  ...  This paper presents a new balancing control approach for regulating the center of mass position and trunk orientation of a bipedal robot in a compliant way.  ...  The controller in [9] utilizes the ZMP concept for ensuring the positivity of the vertical contact forces, and can be extended to deal with yaw perturbations.  ... 
doi:10.1109/humanoids.2011.6100882 dblp:conf/humanoids/OttRH11 fatcat:2oimk5topndnln3j76s5ochtw4

An adaptive control strategy for postural stability using a wearable robot

Vijaykumar Rajasekaran, Joan Aranda, Alicia Casals, Jose L. Pons
2015 Robotics and Autonomous Systems  
INGENIO 2010 from MINECO (Spanish Ministry for Science and Education).  ...  Acknowledgments This work was supported by the project HYPER (Hybrid Neuroprosthetic and Neurorobotic devices for functional compensation and rehabilitation of motor disorders), Grant CSD2009-00067 CONSOLIDER  ...  This strategy can be applied to deal with any kind of perturbation irrespective of its effect on individual or combined joint actions.  ... 
doi:10.1016/j.robot.2014.11.014 fatcat:xnxesskuzve5jp6wm2hmxxricm

Study of an external passive shock-absorbing mechanism for walking robots

A. David, J.-R. Chardonnet, A. Kheddar, K. Kaneko, K. Yokoi
2008 Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots  
The characteristics of the sole material, Young and Poisson coefficients, are set following an adhoc minimization of their influence on the vertical acceleration and lateral inclination.  ...  This paper proposes a compliant sole as an external shock-absorbing mechanism and investigates its effect comparatively to an ankle-located joint-flexible mechanism.  ...  To deal with this problem two directions are undertaken. The first approach consists in using internal passive mechanisms.  ... 
doi:10.1109/ichr.2008.4755991 dblp:conf/humanoids/DavidCKKY08 fatcat:22jnzyq445d73fpidc7yovshgi

External force observer for medium-sized humanoid robots

Louis Hawley, Wael Suleiman
2016 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)  
In this paper, we introduce a method to estimate the magnitude of an external force applied on a humanoid robot.  ...  The proposed method was validated on a Nao humanoid robot to estimate the external force applied in the sagittal plane through two experimental scenarios, and the results pointed out the efficiency of  ...  ACKNOWLEDGMENT This research is supported by the Natural Sciences and Engineering Research Council of Canada (NSERC).  ... 
doi:10.1109/humanoids.2016.7803302 dblp:conf/humanoids/HawleyS16 fatcat:vji2dakcwzavdgvqevoihpee2i

Versatile and robust 3D walking with a simulated humanoid robot (Atlas): A model predictive control approach

Salman Faraji, Soha Pouya, Christopher G. Atkeson, Auke Jan Ijspeert
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
With very few parameters to tune and no perception, our method shows notable robustness against strong external pushes, relatively large terrain variations, internal noises, model errors and also delayed  ...  In this paper, we propose a novel walking method for torque controlled robots.  ...  The authors would like to thank Eric Whitman for his kind collaboration and feedbacks in this work.  ... 
doi:10.1109/icra.2014.6907116 dblp:conf/icra/FarajiPAI14 fatcat:qwslav3ulrcxzg2jqxrqhsxg44

Adaptive Four Legged Locomotion Control Based on Nonlinear Dynamical Systems [chapter]

Giorgio Brambilla, Jonas Buchli, Auke Jan Ijspeert
2006 Lecture Notes in Computer Science  
We have implemented the model both in a simulated physical environment (Webots) and on a Sony Aibo robot.  ...  We present a series of experiments which demonstrate how the controller can tune its frequency to the resonant frequency of the robot, and modify it when the weight of the robot is changed.  ...  Acknowledgments G.B. wishes to especially thank his friend, Fabrizio Patuzzo, for his encouragement, support, and review during the entire work.  ... 
doi:10.1007/11840541_12 fatcat:i35363f3uvgofet2bagssz6lcq

A control architecture with stabilizer for 3D stable dynamic walking of SHERPA biped robot on compliant ground

A. Chemori, S. Le Floch, S. Krut, E. Dombre
2010 2010 10th IEEE-RAS International Conference on Humanoid Robots  
This paper deals with design and implementation of a control architecture for 3D dynamic walking with foot/ground compliant contact.  ...  This architecture includes a ZMP-based pattern generator, a computed torque controller based on the reduced order dynamics of the system, and a stabilizer to enhance the stability robustness of the control  ...  figure 5 ) is proposed for a 3D biped walking robot nicknamed SHERPA, to deal with stable dynamic walking control.  ... 
doi:10.1109/ichr.2010.5686274 dblp:conf/humanoids/ChemoriFKD10 fatcat:wdslzcgy2vgdpnysziorbsdbmu

Closed-loop MPC with Dense Visual SLAM - Stability through Reactive Stepping

Arnaud Tanguy, Daniele De Simone, Andrew I. Comport, Giuseppe Oriolo, Abderrahmane Kheddar
2019 2019 International Conference on Robotics and Automation (ICRA)  
With the proposed control scheme it is shown that the robot is able to react to external disturbances (push), by stepping to recover from the loss of balance.  ...  We validate the proposed scheme through two different experiments with a HRP-4 humanoid robot.  ...  A first experiment validates the walking performance with a simple cartesian regulator based on SLAM localization that makes the robot walk to specified targets in its environment.  ... 
doi:10.1109/icra.2019.8794006 dblp:conf/icra/TanguySCOK19 fatcat:xqr3kr4ntfgefadznf4qczxh5u

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  
The neural controller is trained to compensate for external perturbations by controlling the torso's joint motions. Algorithms are embedded in the real time electronic unit of the robot.  ...  On-line learning implementations are presented in detail. The results on learning behavior and control performance demonstrate the strength and the efficiency of the proposed approach.  ...  frame on C0 at point  the external environment of the robot) with , , and , ,  ⃗ : Acceleration of Ci elements.  ... 
doi:10.1016/j.conengprac.2010.10.002 fatcat:lzh57x32obdupfzpdmhr3erumq

Design Methodology for Biped Robots: Applications in Robotics and Prosthetics [chapter]

Maximo Roa, Diego Garzon, Ricardo Ramirez
2007 Climbing and Walking Robots: towards New Applications  
The control system of the robot reacts well in the presence of small perturbations; the robot can start his walk with open (split) legs, seated or on its knees.  ...  This robot corrected most of the errors of the first robot: it does not require external help to walk, ant the closed loop control makes it more robust in front of perturbations.  ...  This book consists of two main parts, one dealing with walking robots, the second with climbing robots. The content is also grouped by theoretical research and applicative realization.  ... 
doi:10.5772/5077 fatcat:4prtabpdrff4dda2ibhk4rs2fy

Learning from demonstration and adaptation of biped locomotion

2004 Robotics and Autonomous Systems  
Numerical simulations and experimental implementation on a physical robot demonstrate the effectiveness of the proposed locomotion controller.  ...  algorithm based on phase resetting and entrainment of coupled oscillators.  ...  This research was supported in part by National Science Foundation grants ECS-0325383, IIS-0312802, IIS-0082995, ECS-0326095, ANI-0224419, a NASA grant AC#98-516, an AFOSR grant on Intelligent Control,  ... 
doi:10.1016/s0921-8890(04)00039-9 fatcat:fcrhwq7bcjeqfhg3u6douo7p3q
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