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Special Feature on Bio-Inspired Robotics

Toshio Fukuda, Fei Chen, Qing Shi
2018 Applied Sciences  
Acknowledgments: This special issue receives technical support by IEEE Robotics and Automation Society (RAS) Technical Committee on Neuro-Robotics Systems, and Technical Committee on Cyborg and Bionic  ...  Systems and IEEE Systems, Man, and Cybernetics Society (SMC) Technical Committee on Bio-Mechatronics and Bio-Robotics Systems.  ...  Hu and Mombaur present an optimal control-based approach for the humanoid robot iCub that allows to generate optimized walking motions using a precise whole-body dynamic model of the robot.  ... 
doi:10.3390/app8050817 fatcat:umcpvvryxbfnvlmwvlcmsynj3q

Kinematic study of biped locomotion systems [chapter]

F. M. Pereira da Silva, J. A. Tenreiro Machado
1997 Re-engineering for Sustainable Industrial Production  
This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking.  ...  In this work, we propose four methods to quantitatively measure the performance of the walking robot: energy analysis, perturbation analysis, lowpass frequency response and locomobility measure.  ...  A short description of the biped model is given in section 2. In section 3 we describe the method used to plan the kinematic trajectories of the biped robot.  ... 
doi:10.1007/978-0-387-35086-8_13 fatcat:vskyeuolfrhnbc2g2g4vhymxhu

Biorobotics: Using robots to emulate and investigate agile locomotion

A. J. Ijspeert
2014 Science  
The goals of biorobotics are to take inspiration from biological principles to design robots that match the agility of animals, and to use robots as scientific tools to investigate animal adaptive behavior  ...  Used as physical models, biorobots contribute to hypothesis testing in fields such as hydrodynamics, biomechanics, neuroscience, and prosthetics.  ...  Renjewski for useful comments on the manuscript.  ... 
doi:10.1126/science.1254486 pmid:25301621 fatcat:usabelljnbh2xphlqjrxwzmzsq

A Control Approach for Actuated Dynamic Walking in Biped Robots

D.J. Braun, M. Goldfarb
2009 IEEE Transactions on robotics  
This paper presents an approach for the closed-loop control of a fully-actuated biped robot that leverages its natural dynamics when walking.  ...  Finally, controller robustness is demonstrated with respect to forward and backward push-type disturbances and with respect to uncertainty in model parameters.  ...  BIPED MODEL The control methodology is based upon a dynamic model of the robot introduced in this section.  ... 
doi:10.1109/tro.2009.2028762 fatcat:npib5jjvtrhxzpasfpwfb4fuyy

Optimal Design of Biped Amble Mechanism using Matlab

Bammidi Roopsandeep, Dontikurti Raghuveer, Sreeramulu Dowluru, Rao C J, Kumar A Satish
2021 International Journal of Robotic Engineering  
This research involves a simulation of a simple Biped model using Crank-Rocker mechanism.  ...  The present research work uses a different type of mechanism for driving a biped that is most distinguished by its ease of operation that produces a type of 'walk' similar to two legged mammals.  ...  On the basis of a novel theoretical model of bipedal walking, this paper investigates a model of biped robot which makes use of minimum control and elastic passive joints inspired from the structures of  ... 
doi:10.35840/2631-5106/4136 fatcat:3mvbvxr5cbh5xo72sr4idpbzl4

Bond graph approach for dynamic modelling of the biped robot and application to obstacle avoidance

Rajmeet Singh, Tarun Kumar Bera
2019 Journal of the Brazilian Society of Mechanical Sciences and Engineering  
This paper deals with the modelling and obstacle avoidance of a biped robot. At first, the bond graph-based three-dimensional model of the biped is proposed.  ...  Then, bond graph model is converted into the Simulink block which is further used for obstacle avoidance application. The physical model of the biped robot is also fabricated.  ...  The bond graph tool is used for modelling the threedimensional model of the biped robot. The obstacle avoidance application is considered for biped robot in this work.  ... 
doi:10.1007/s40430-019-1957-7 fatcat:3ba6pf6c5jaynid5eusd6diirq

Actuated dynamic walking in biped robots: Control approach, robot design and experimental validation

David J. Braun, Jason E. Mitchell, Michael Goldfarb
2009 2009 9th IEEE-RAS International Conference on Humanoid Robots  
This paper presents and experimentally demonstrates a control approach for actuated dynamic walking in biped robots.  ...  In order to verify that the control idea provides natural looking (human-like) dynamic walking, a seven-link biped robot was designed with backdrivable joint actuators, which allows passive leg motion.  ...  Application of this method has been shown to provide effective, robust, and versatile locomotion for biped robots, [11] , [6] .  ... 
doi:10.1109/ichr.2009.5379573 dblp:conf/humanoids/BraunMG09 fatcat:gl2qon667nhipbgqvmonxspjki

Optimum stable gait planning for an 8 link biped robot usnig simulated annealing

A. P. Sudheer, R. Vijayakumar, K. P. Mohandas
2011 International Journal of Simulation Modelling  
Biped locomotion is a complex dynamical task because of the intermittent interaction with its environment and the ground through its feet.  ...  This work presents the kinematic and dynamic modelling and simulation of 8 link biped robot walking with two limbs in the upper body.  ...  Dynamic modelling Dynamic model of a robot is useful for the computation of torque and forces required for execution of a typical work cycle, which is vital information for the design of links, joints  ... 
doi:10.2507/ijsimm10(4)2.186 fatcat:i7had2wrlfhurpxnqkuxb6kxke

Zero-Moment Point-Based Biped Robot with Different Walking Patterns

Hayder F. N. Al-Shuka, Burkhard J. Corves, Bram Vanderborght, Wen-Hong Zhu
2014 International Journal of Intelligent Systems and Applications  
Last, a simple algorithm has been proposed to compensate for ZMP deviations due to approximate model of the LPM.  ...  First, three methods have been compared for smooth transition of biped locomotion from the single support phase (SSP) to the double support phase (DSP) and vice versa.  ...  There are numerous approaches to generate biped locomotion as detailed in [2] [3] [4] [5] .  ... 
doi:10.5815/ijisa.2015.01.03 fatcat:jae6axcswjehtcqjhx273thqc4

Locomotion Strategies for Amphibious Robots-A Review

Mohammed Rafeeq, Siti Fauziah Toha, Salmiah Ahmad, Mohd Asyraf Razib
2021 IEEE Access  
Consequently, bipedal locomotion is studied to understand animal locomotion instead of practical applications of biped amphibious robot.  ...  The amphibious spherical robot uses Lagrange approach to arrive at dynamic equations that serves as theoretical foundation for simulation using virtual prototype build in dynamic simulation software like  ... 
doi:10.1109/access.2021.3057406 fatcat:yjquskqm7fffticy2n6v3hj6ye

ATRIAS: Design and validation of a tether-free 3D-capable spring-mass bipedal robot

Christian Hubicki, Jesse Grimes, Mikhail Jones, Daniel Renjewski, Alexander Spröwitz, Andy Abate, Jonathan Hurst
2016 The international journal of robotics research  
ATRIAS is a human-scale 3D-capable bipedal robot designed to mechanically embody the spring-mass model for dynamic walking and running.  ...  To help bring the extensive work on this theoretical model further into practice, we present the design and validation of a spring-mass robot that can operate in real-world settings (i.e. off-tether and  ...  The authors further thank Kit Morton, Ryan Van Why, Soo-Hyun Yoo, Ethan Shepard, Michael Anderson, Ross McCullough, and Ryan Skeele for their technical contribution to building ATRIAS, its electronics  ... 
doi:10.1177/0278364916648388 fatcat:l6ge3cxq4zhldkzyyeti4zviqq

USING OPTIMIZATION TECHNIQUES FOR THE DESIGN AND CONTROL OF FAST BIPEDS

T. LUKSCH, K. BERNS, K. MOMBAUR, G. SCHULTZ
2007 Advances in Climbing and Walking Robots  
Fast, dynamic or energy efficient locomotion of bipeds is still an unsolved problem in robotics.  ...  This paper proposes to use techniques from numerical optimization and optimal control combined with behavior-based control concepts to address some of the problems when designing and controlling two-legged  ...  goal is to apply the described methodology to construct a bipedal running biped.  ... 
doi:10.1142/9789812770189_0053 fatcat:mofqpiq6szbxjngsn7rzt3ltga

Implementation of Deep Deterministic Policy Gradients for Controlling Dynamic Bipedal Walking

Chujun Liu, Andrew Lonsberry, Mark Nandor, Musa Audu, Alexander Lonsberry, Roger Quinn
2019 Biomimetics  
A control system for bipedal walking in the sagittal plane was developed in simulation. The biped model was built based on anthropometric data for a 1.8 m tall male of average build.  ...  The simulated biped can walk at a steady pace of approximately 1 m/s, and during locomotion it can maintain stability with a 30 kg·m/s impulse applied forward on the torso or a 40 kg·m/s impulse applied  ...  The funders had no role in the design of the study; in the collection, analyses, or interpretation of data; in the writing of the manuscript, or in the decision to publish the results.  ... 
doi:10.3390/biomimetics4010028 pmid:31105213 pmcid:PMC6477666 fatcat:f65icgis6jgm5in2pvfav67mde

Novel Robotic Applications using Adaptable Compliant Actuation. An Implementation Towards Reduction of Energy Consumption for Legged Robots [chapter]

Bjorn Verrelst, Bram Vanderborght
2006 Mobile Robotics, Moving Intelligence  
Such muscles are currently being used for the actuation of the biped robot "Lucy" (Verrelst et al., 2005c) and a manipulator arm with direct human/robot interaction , and will be used to power a semi-active  ...  active control was used to cope with imperfections of the modelling of the passive dynamics.  ...  Novel Robotic Applications using Adaptable Compliant Actuation.  ... 
doi:10.5772/4737 fatcat:epi2vqpsijhlvbbk6e6j3wlcxy

Biped dynamic walker with alternate unpowered and partially powered steps in a gait cycle

Prasanth Kumar R, Krishna Prakash Yadav
2020 Vibroengineering PROCEDIA  
We analyze such gaits for local and global stability for a virtual slope and for the cases of completely unpowered or partially powered alternate steps.  ...  The biped dynamic walker considered in this paper has three actuators -two at the ankle joints and one at the hip joint. We consider the case of one of the two ankle actuators at fault.  ...  Fig. 1 . 1 Schematic of the biped dynamic walker robot a) b) Fig. 2. a) Limit cycle plot of VPDW, b) step length convergence plot of VPDW Fig. 3 . 3 Schematic of alternate powered and unpowered steps  ... 
doi:10.21595/vp.2020.21805 fatcat:g2ayqbt65jc6bb5lmy2eahrpga
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