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Application of Neural Network in the Stability of Biped Robot and Embedded Control of Walking Mode

Jianrui Zhang, Zhaohui Yuan, Huan Geng, Sheng Dong, Fuli Zhang, Jingchao Li, Xuefeng Shao
2022 Journal of Electrical and Computer Engineering  
Essentially, the output value of the physical network is used to judge whether the robot is in a stable position so as to perform appropriate actions and control the robot's stability of walking.  ...  is deeply analyzed, using a neural network to control the stability of biped robot motion and adopting the research method of the embedded control system in walking mode.  ...  Acknowledgments is work was supported by the Science and Technology Program of Gansu Province (20JR5RA483).  ... 
doi:10.1155/2022/7474820 fatcat:k6pzljefyfg6jhpiqnrnuzyrai

Fast Biped Walking with a Sensor-driven Neuronal Controller and Real-time Online Learning

Tao Geng, Bernd Porr, Florentin Wörgötter
2006 The international journal of robotics research  
In this paper, we present our design and experiments of a planar biped robot under control of a pure sensor-driven controller.  ...  Due to the interaction of the sensor-driven neuronal controller and the properly designed mechanics of the robot, the biped robot can realize stable dynamic walking gaits in a large domain of the neuronal  ...  Chevallereau et al. (2003) designed a trajectory tracking controller based on the zero dynamics of a planar biped robot with unactuated ankles, by which asymptotically stable walking gaits were realized  ... 
doi:10.1177/0278364906063822 fatcat:fn26n3v2pja7zavrm5qekputb4

Gait detection based stable locomotion control system for biped robots

Ming-Yuan Shieh, Chien-Sheng Chen, Chen-Hsin Chuang, Yi-Rong Liou, Jeng-Han Li
2012 Computers and Mathematics with Applications  
It is a challenge to maintain a steady and stable locomotion when a biped robot navigates an uneven surface or a step.  ...  Firstly it needs to detect the gait of the robot and related environmental objectives, and then to perform appropriate controls of stable locomotion.  ...  The equipment and software of the experiments were supported by the Robotics Research Center and the Optoelectronics Semiconductor Center in Southern Taiwan University.  ... 
doi:10.1016/j.camwa.2012.03.090 fatcat:3qrwiuoaz5dl3boeynmm3syxiq

Motion design and Stability study of Biped Robot

Zhao Limei, Ma Xiaotie
2019 IOP Conference Series: Materials Science and Engineering  
Robobasic programming language is used to set the rotation angle and direction of each steering gear, so as to carry out motion design and flexibly control the robot.  ...  Biped robot is one of many kinds of humanoid robot, with upper and lower limb structure of multiple degrees of freedom, humanoid appearance and friendly human-computer interaction interface.  ...  Therefore, how to make the biped robot walk stably is a key problem. The basic motion state of biped robot is walking, which can be divided into static walking and dynamic walking.  ... 
doi:10.1088/1757-899x/563/4/042070 fatcat:ufievftksrdrndhyg4mu4jdrwq

SVR Controller for a Biped Robot with a Human-like Gait Subjected to External Sagittal Forces [chapter]

Joo P., Manuel Crisstomo, A. Paulo, Bernardete Ribeiro
2011 Biped Robots  
Acknowledgments The authors would like to thank the Portuguese Fundação para a Ciência e a Tecnologia for financial support.  ...  (Vukobratovic, 1990 ) developed a mathematical model of a biped robot and its method of control.  ...  Implemented robot and software A biped robot was designed and built at the Institute of System and Robotics of the Department of Electrical and Computer Engineering of the University of Coimbra, in Portugal  ... 
doi:10.5772/14445 fatcat:pth6png7fjbohj6urobb6dzhrm


Prahlad Vadakkepat, Dip Goswami
2008 International Journal on Smart Sensing and Intelligent Systems  
A detailed survey is presented describing the various research problems and the approaches reported in the literature to analyze and control biped locomotion.  ...  A compensating torque, computed from the force sensor reading, is injected into the ankle-joint of the foot of the robot to improve stability.  ...  Third, the complexity of the robot dynamics necessitate significant simplification of the dynamic equations to generate the actuator-level control input and control is designed based on the simplified  ... 
doi:10.21307/ijssis-2017-286 fatcat:lk45nhgmgfc7vpfdcq6n44rfsm


Dusko Katić, Miomir Vukobratović
2005 IFAC Proceedings Volumes  
Overall, this survey covers a broad selection of examples that will serve to demonstrate the advantages and disadvantages of the application of intelligent control techniques.  ...  algorithms) in the area of humanoid robotic systems.  ...  For all the mentioned categories of walking robots, the issue of stable and reliable bipedal walk is the most fundamental and yet unsolved with a high degree of reliability.  ... 
doi:10.3182/20050703-6-cz-1902.01276 fatcat:wrzes2vitbf4rkkfn3c6evxuxe

Огляд методів і підходів для планування траєкторії руху антропоморфного крокуючого апарата довільною опорною поверхнею із збереженням найбільшого запасу стійкості

Михайло Мартинович Ткач, Хальдун Арфааф, Дмитро Олександрович Гуменний
2016 Adaptivni Sistemi Avtomatičnogo Upravlinnâ  
In this paper presented a novel concept to solve the problem of finding the absolute position of foot of biped, in Cartesian coordinates with the largest stability margin, and then control the joint angles  ...  to obtain the desired absolute position at big angular momentum during dynamic walking of Biped Robot on uneven terrain.  ...  Some of work [6] focused on stable and reliable walking for a biped robot.  ... 
doi:10.20535/1560-8956.29.2016.92148 fatcat:dircjkiyvfewxcndjfdgz3mhna

ZMP trajectory reference for the sagittal plane control of a biped robot based on a human CoP and gait

Manuel Crisostomo, A. Paulo Coimbra, Joao P. Ferreira
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
ZMP trajectory reference generation is very important in the design and balance control of the walking of a biped robot.  ...  This paper introduces two new important issues to be considered in the design of the zero moment point (ZMP) trajectory reference for the sagittal plane balance control of an autonomous walking biped robot  ...  ACKNOWLEDGMENTS The authors would like to thank the Portuguese Fundação para a Ciência e a Tecnologia for financial support.  ... 
doi:10.1109/iros.2009.5354408 dblp:conf/iros/FerreiraCC09 fatcat:35466hrlobesjfj2qaw3ucfrju

Biped blind walking on changing slope with reflex control system

Feng Tan, Chenglong Fu, Ken Chen
2010 2010 IEEE International Conference on Robotics and Automation  
We analyze inherent reasons of falling for a biped system based on dynamic principles and assume that human walking relies more on instinct actions within the spinal cord rather than brain.  ...  Corresponding falling tendency function is proposed, based on which a reflex controller adjusting output of oscillator is designed.  ...  Two touch sensors are placed on the foot and the kneecap respectively in each leg. These sensors are used to synchronize the biped controller with the robot dynamics.  ... 
doi:10.1109/robot.2010.5509164 dblp:conf/icra/TanFC10 fatcat:mslohnyycna2ha3pi7phuf7age

Design and Development of Biped Humanoid Robot, AMI2, for Social Interaction with Humans

Hyun Yang, Yong-ho Seo, Yeong-nam Chae, Il-woong Jeong, Won-hyung Kang, Ju-ho Lee
2006 2006 6th IEEE-RAS International Conference on Humanoid Robots  
The aim of this study is to design and implement a biped humanoid robot which can interact with humans.  ...  Its control hardware includes vision and speech capabilities and various control boards such as motion controllers, with a signal processing board for several types of sensors.  ...  The present study describes the design and the specifications of the proposed robot, the hardware system that controls the actuators and sensors, the software system that operates the robot and the biped  ... 
doi:10.1109/ichr.2006.321296 dblp:conf/humanoids/YangSCJKL06 fatcat:oe3jis2ltrez3bytpn2wij665m

Using a Symmetric Rotor as a Tool for Balancing [chapter]

N. Michael Mayer, Minoru Asada, Rodrigo da Silva Guerra
2006 Lecture Notes in Computer Science  
Finally, a robot design that consists just of a trunk is presented.  ...  In a model for an actuated robot the rotor is used as a reaction wheel, i.e. the pitch of the robot is stabilised by accelerating and decelerating it.  ...  r = −A sin(α) + Bα + Cρ(..) Passive dynamic walking The idea behind PDW is to exploit the natural dynamics of pendulum-like legs so as to achieve fast and economic walking in bipedal robots.  ... 
doi:10.1007/11780519_7 fatcat:lhquwsbyrzgnnadp335zgybsea

Design and walking pattern generation of a biped robot

2017 Turkish Journal of Electrical Engineering and Computer Sciences  
This paper presents the design of a biped robot, the walking trajectory generation method, and experimental results about biped walking.  ...  The results showed that even with a simple control system implementation of generated trajectories is very promising in terms of stability and reducing complexity.  ...  Although biped robots have many advantages compared to other types of robots, the control of biped robots is a challenging problem that is unbalanced, nonlinear, dynamically time variant [5, 6] .  ... 
doi:10.3906/elk-1409-19 fatcat:ejbju45bd5ajtdmnb4kxdjmawq

AI based Biped Robot

S. M. Jadhav, Dhondge Kaustubh V, Kadekar Gausmohammad I, Surve Ashlesha D, R. Patil Rupesh
2020 Zenodo  
The primary goal is to design a biped shape that may effortlessly control and capable of dealing with entire situation like humans.  ...  The primary focus in this paper is on bipedal robot development and controlling it for the different surface conditions by using an AI based approach.  ...  "Research on the Stability of Biped Robot Walking on the Different Road Surfaces:". Balance exploration is the way to accomplishing stable strolling of biped robots.  ... 
doi:10.5281/zenodo.3882076 fatcat:awxw4v5ehjg25bbdpop5ugafqa

Multi-Model Stability Control Method of Underactuated Biped Robots Based on Imbalance Degrees

Z.-H. Zhang, C. Hu
2015 International Journal of Simulation Modelling  
In this paper, a stability control strategy for underactuated biped robots is proposed based on imbalance degree.  ...  The dynamic models of single-leg support of underactuated biped robots are firstly illustrated.  ...  a method and a device of upper body posture control for stable walking humanoid robots.  ... 
doi:10.2507/ijsimm14(4)7.318 fatcat:vxn2mrxw4vfddc77bakc46x4ea
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