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A general formulation for dynamic path planning and closed-loop tracking of multi-rigid-link bipedal robotic systems
The main objective of this paper is to present a systematic approach for planning a desired path for a bipedal robotic system walking down an...
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An Underwater Biomimetic Robot that can Swim, Bipedal Walk and Grasp
In develo** and exploring extreme and harsh underwater environments, underwater robots can effectively replace humans to complete tasks. To meet...
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Screw Dynamics of a Bipedal Humanoid Robot
The dynamics modeling of bipedal humanoid robots is the foundation of robot torque control. A new dynamics modeling method for a bipedal humanoid...
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Design and control of BRAVER: a bipedal robot actuated via proprioceptive electric motors
This paper presents the design and control of a high-speed running bipedal robot, BRAVER. The robot, which weighs 8.6 kg and is 0.36 m tall, has six...
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Towards a Unified Terminology for Benchmarking Bipedal Systems
In the European project EUROBENCH, we are develo** a framework for benchmarking the performances of bipedal systems: from humans to humanoids...
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Cascade Antidisturbance Control of Hydraulically Driven Bipedal Robots for High Dynamic Locomotion by Using Model Prediction and Task Hierarchical Optimization
The development of hydraulically driven heavy legs that can withstand external interference for realizing the high-velocity dynamic walking of...
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Fast Terminal Discrete-time Sliding Mode Control with Fuzzy-based Impedance Modulation for Toe Foot Bipedal Robot Going Upstairs
The fundamental aim of this paper is to riddle out the joint space trajectory tracking problem for a fully actuated 9-Link bipedal robot while...
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Dynamic Modelling and Optimal Sliding Mode Control of the Wearable Rehabilitative Bipedal Cable Robot with 7 Degrees of Freedom
Although robot-assisted physiotherapy has gained increasing attention in recent years, the use of wearable rehabilitation robots for lower limbs has...
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Bipedal Walking and Impact Reduction Algorithm for a Robot with Pneumatically Driven Knees
We propose a bipedal walking and impact reduction algorithm for a bipedal robot with pneumatically driven knees. The proposed algorithm is meaningful...
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Online regulation of walking gait speed for a five-link bipedal robot via adaptive deforming of virtual holonomic constraints
Bipedal robots with instantaneous impact form a subclass of the dynamic systems with hybrid and under-actuation properties. Because of these two...
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A control strategy for bipedal robots with musculotendon actuators in the knees
In this paper, a new optimal control strategy for bipedal robots with musculotendon actuators is proposed. The novelty of the work is located in the...
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Dynamic modeling and closed-loop control design for humanoid robotic systems: Gibbs–Appell formulation and SDRE approach
Analyzing the walking motion of the bipedal robots that have upper-body parts as well as lower-body legs and exhibit a human-like gait is a...
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Plantar Pressure Measurements at Unipedal and Bipedal Stance of Diabetic Foot Patients
Diabetes is associated with complications such as ulcers and amputations. 38% of ulcers develop at plantar locations where pressure is high. DIAPODAL...
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Analysis of Redundancy and Elasticity of Actuators in Hop** Control of Bipedal Robot CARL Based on SLIP Model
Bipedal robotics strives to replicate human motion and locomotive skills. In [38], the authors elegantly emphasize the notion of embodiment in...
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Bipedal Walking Robot Control Using PMTG Architecture
Reinforcement learning based methods can achieve excellent results for robot locomotion control. However, their serious disadvantage is the long...
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UDE-Based Robust Walking Control of a Bipedal Robot
Robust bipedal locomotion in robotics is a fundamental and challenging requirement. Firstly, we use the variable spring-loaded inverted pendulum...
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Bipedal Humanoid Hardware Design: a Technology Review
Purpose of ReviewAs new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal...
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A Further Analysis of the Passive Compass-Gait Bipedal Robot and Its Period-Doubling Route to Chaos
This chapter shows that the compass-gait biped robot can walk down a sloped surface indefinitely without any actuation. Such legged walker is modeled...
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Dynamic Bipedal Walking Using Real-Time Optimization of Center of Mass Motion and Capture Point-Based Stability Controller
This paper proposes a walking pattern generator and a stabilization method for the dynamic walking of a bipedal robot. The capture point (CP) and...
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Performance Comparison Between Higher-Order Sliding Mode and Fixed Boundary Layer Sliding Mode Controller for a 10-DoF Bipedal Robot
In this paper, a performance comparison between the boundary layer sliding mode control (BLSMC) and the higher-order sliding mode controllers (HOSMC)...