A review on gait generation of the biped robot on various terrains
MS Khan, RK Mandava - Robotica, 2023 - cambridge.org
Day by day, biped robots' usage is increasing enormously in all industrial and non-industrial
applications due to their ability to move in any unstructured environment compared to …
applications due to their ability to move in any unstructured environment compared to …
Relationships between frontal-plane angular momentum and clinical balance measures during post-stroke hemiparetic walking
Stroke has significant impact on dynamic balance during locomotion, with a 73% incidence
rate for falls post-stroke. Current clinical assessments often rely on tasks and/or …
rate for falls post-stroke. Current clinical assessments often rely on tasks and/or …
Hybrid adaptive robust control based on CPG and ZMP for a lower limb exoskeleton
In this paper, hybrid control of central pattern generators (CPGs), along with an adaptive
supper-twisting sliding mode (ASTSM) control based on supper-twisting state observer, is …
supper-twisting sliding mode (ASTSM) control based on supper-twisting state observer, is …
Analysis of a new single degree-of-freedom eight link leg mechanism for walking machine
This paper presents a new single degree-of-freedom crank driven walking leg mechanism
for walking machines and walking robots. The mechanism is planar Peaucellier-Lipkin type …
for walking machines and walking robots. The mechanism is planar Peaucellier-Lipkin type …
Optimal robust sliding mode tracking control of a biped robot based on ingenious multi-objective PSO
The aim of this paper is to present novel Multi-objective Particle Swarm Optimization
(MOPSO) called Ingenious-MOPSO and compare its capability with three well-known multi …
(MOPSO) called Ingenious-MOPSO and compare its capability with three well-known multi …
[HTML][HTML] Study on feet forces' distributions, energy consumption and dynamic stability measure of hexapod robot during crab walking
This paper deals with the development of a dynamical model related to crab walking of a
hexapod robot to determine the feet forces' distributions, energy consumption and dynamic …
hexapod robot to determine the feet forces' distributions, energy consumption and dynamic …
An adaptive PID control algorithm for the two-legged robot walking on a slope
The crux in designing the PID controller lies in determining its gain values, which play a
major role in deciding its performance. The gains are fed as inputs to the controller and are …
major role in deciding its performance. The gains are fed as inputs to the controller and are …
An optimal PID controller for a biped robot walking on flat terrain using MCIWO algorithms
The design of appropriate controller plays an important role in achieving the dynamically
balanced gaits of the biped robot. The present paper deals with the tuning of gains (K p, K d …
balanced gaits of the biped robot. The present paper deals with the tuning of gains (K p, K d …
A novel low-cost ZMP estimation method for humanoid gait using inertial measurement devices: Concept and experiments
Estimation and control of zero-moment point (ZMP) is a widely used concept for planning the
locomotion of bipedal robots and is commonly measured using integrated joint angle …
locomotion of bipedal robots and is commonly measured using integrated joint angle …
Dynamically balanced optimal gaits of a ditch-crossing biped robot
This paper deals with the generation of dynamically balanced gaits of a ditch-crossing biped
robot having seven degrees of freedom (DOFs). Three different approaches, namely …
robot having seven degrees of freedom (DOFs). Three different approaches, namely …