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A new stability framework for trajectory tracking control of biped walking robots
This article proposes a new stability criterion for biped walking systems on the linear
inverted pendulum model, in which the dynamic relationship between the center of mass …
inverted pendulum model, in which the dynamic relationship between the center of mass …
Velocity-based gait planning for underactuated bipedal robot on uneven and compliant terrain
This article develops a gait planning method for underactuated bipedal robot on uneven and
compliant terrain. First, we employ a linear spring-damper model to describe foot-ground …
compliant terrain. First, we employ a linear spring-damper model to describe foot-ground …
A heuristic gait template planning and dynamic motion control for biped robots
Biped robots with dynamic motion control have shown strong robustness in complex
environments. However, many motion planning methods rely on models, which have …
environments. However, many motion planning methods rely on models, which have …
Contact force/torque control based on viscoelastic model for stable bipedal walking on indefinite uneven terrain
Humanoid robots are being designed to perform tasks currently carried out by human
workers in industry, manufacturing, service, and disaster assistance. To this end, the …
workers in industry, manufacturing, service, and disaster assistance. To this end, the …
Online running-gait generation for bipedal robots with smooth state switching and accurate speed tracking
Smooth state switching and accurate speed tracking are important for the stability and
reactivity of bipedal robots when running. However, previous studies have rarely been able …
reactivity of bipedal robots when running. However, previous studies have rarely been able …
[HTML][HTML] Explosive electric actuator and control for legged robots
Unmanned systems such as legged robots require fast-motion responses for operation in
complex environments. These systems therefore require explosive actuators that can …
complex environments. These systems therefore require explosive actuators that can …
Disturbance rejection for biped walking using zero-moment point variation based on body acceleration
For real-world applications, a biped robot should maintain stable walking when subjected to
sudden external disturbances. Typically, unexpected changes to body acceleration indicate …
sudden external disturbances. Typically, unexpected changes to body acceleration indicate …
Tendon-inspired piezoelectric sensor for biometric application
In this article, a novel sensing structure is proposed to measure tensile loading. The sensing
structure is motivated by the operating principle of the tendon. The fibroelastic characteristic …
structure is motivated by the operating principle of the tendon. The fibroelastic characteristic …
[HTML][HTML] Stability and dynamic walk control of humanoid robot for robot soccer player
Robotic football with humanoid robots is a multidisciplinary field connecting several scientific
fields. A challenging task in the design of a humanoid robot for the AndroSot and HuroCup …
fields. A challenging task in the design of a humanoid robot for the AndroSot and HuroCup …
Locomotion control of quadruped robots with online center of mass adaptation and payload identification
Most of the controllers for quadruped robots are based on the planning of their centers of
mass (CoM), with the assumption that the CoM locates at the geometrical center of the robot …
mass (CoM), with the assumption that the CoM locates at the geometrical center of the robot …