Compliance control is important for the realization of disturbance absorption in biped robots. However, under a sustained disturbance, compliance causes robot's balance to deteriorate because its floating base nature. Humans address this problem by resisting external disturbance. When pushed, human will reconcile their posture with applied force and then push back maintain balance. Inspired behavior, we propose strategy robots called resistant compliance, which allows robot comply initially...

Stability control for humanoid robots based on zero moment point (ZMP) and impedance are widespread. However, uncertain changes in the center of mass (CoM) height ZMP specific regulation variable stiffness have been challenging issues previous studies. In this article, these two problems solved by implementing fuzzy control-based regulations. First, controller, which regulates feedback gains online CoM change tracking errors, is proposed. Second, we propose a law stiffness, applied contact...

Highly dynamic movements such as jumping are important to improve the agility and environmental adaptation of humanoid robots. This article proposes an online optimization method realize a vertical jump with centroidal angular momentum (CAM) control landing impact absorption for robot. First, robot's center mass (CoM) trajectory is generated by nonlinear optimization. Then, quasi-sliding mode controller designed ensure that robot tracks CoM accurately. To avoid unexpected spinning in flight...

Human-like features, like toe-off, heel-strike, and disturbance rejection, can enhance the performance of bipedal robots. However, required control strategies for these motions influence each other, few studies have considered them simultaneously. Humans walk stably with toe-off heel-strike even after experiencing disturbances. Thus, we study human strategies, then, apply to a robot. This paper proposes bioinspired method realize stable walking robot First, analyze obtain some strategies....

Unmanned SystemsAccepted Papers No AccessPlane-Aware Heightmap for Adaptable Footstep Planning in Discontinuous Coplanar TerrainChao Li, Yongliang Shi, Chencheng Dong, Qingqing Xuechao Chen, Zhangguo Yu, and Zhihong JiangChao Shi Search more papers by this author , Dong Li Chen Yu Jiang https://doi.org/10.1142/S2301385026500056Cited by:0 (Source: Crossref) Next AboutFiguresReferencesRelatedDetailsPDF/EPUB ToolsAdd to favoritesDownload CitationsTrack CitationsRecommend Library ShareShare...

High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method high-dynamic explosive jumping. This paper proposes 3-step framework generating motion robot. To improve iteration speed ideal performance, the comprises three sub-optimizations. first incorporates momentum, inertia, center of pressure (CoP), treating robot as static reaction momentum pendulum (SRMP) model generate...

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 humanoid robot should be able walk stably across many types of terrain. However, when traversing a complex unknown environment, it is difficult realize accurate terrain perception immediately through large data collected sensor system, leading difference between planned foot landing positions actual positions. As result, an...

The humanoid robot, one of the ideal unmanned systems, has potential to perform tasks currently carried out by human workers in industry, manufacturing, service, and disaster response. In such complicated environments with unknown disturbances, compliance is important for a especially position-controlled one, maintain balance while performing task. This article presents dynamic torso method robots adapt external disturbances standing or walking. comprises two independent controllers. One...

When a biped robot moves about in physical environment, it may encounter inclined ground. Biped walking on ground still remains challenging for robots. Previous studies have discussed along specific directions. However, omnidirectional walk has rarely been investigated. In this paper, we propose gait pattern generation method First, model that describes the motion of uniformly with two angle parameters is proposed. A mathematical relationship between motions sagittal and coronal planes are...

For real-world applications, a biped robot should maintain stable walking when subjected to sudden external disturbances. Typically, unexpected changes body acceleration indicate that is experiencing an disturbance. This paper presents controller for rapid response large First, novel adjustment algorithm foot placement proposed. Here, zero-moment point variations are mapped onto the new foothold based on calculations from in acceleration. Second, impact reduction control landing presented...

Vehicle driving can substantially enhance the maneuverability of humanoid robots. Agile steering wheel manipulation requires rapid rotation in narrow spaces such as a cab, serving foundation for increasing speed, especially an obstacle avoidance scenario. Generally, there are 3 human strategies, "Hand-to-Hand," "Hand-over-Hand," and "One-Hand." Based on motion data, we quantitatively analyze these strategies from aspects, range joint combination, region shoulder, velocity manipulation. Then,...

Smooth state switching and accurate speed tracking are important for the stability reactivity of bipedal robots when running. However, previous studies have rarely been able to synthesize these two capabilities online. In this paper, we present an online running-gait generator that allows smooth tracking. Considering a fluctuating height nature computational expediency, robot is represented by simplified variable-height inverted-pendulum (VHIP) model. order achieve at beginning end running,...

SUMMARY A crucial problem is the risk that a manipulator arm would be damaged by twisting or bending during and after contacting target satellite. This paper presents solution to minimize of damage thereby enhance contact performance. First, hand-eye servo controller proposed as method for accurately tracking capturing Next, motion planning strategy employed obtain best-fit moments. Also, an impedance control law implemented increase protection operation ensure more accurate compliance....

Load capacity is an important index to reflect the practicability of legged robots. Existing research into quadruped robots has not analyzed their load performance in terms structural design and control method from a systematic point view. This paper proposes crawling pattern generator for planar robot that can realize high-payload locomotion. First, functions required evaluate leg's are established, quantitative comparative analyses candidates performed select leg structure with best...

Humanoid robots are similar in dimension and degrees of freedom to humans. Compared with other types robots, humanoid more adaptable complex living environment various tools The combination wheeled robot is an effective way increase the moving speed, range motion environmental adaptability which can accelerate application human environments. In this way, use industry services be effectively improved. This article introduces a novel electrically-driven wheel-legged BHR-W 14 freedom. It wheels...

Abstract Biped robots with dynamic motion control have shown strong robustness in complex environments. However, many planning methods rely on models, which difficulty dynamically modifying the walking cycle, height, and other gait parameters to cope environmental changes. In this study, a heuristic model-free template method is proposed. The trajectory can be generated by inputting desired speed, support height without model. Then, stable of biped robot realized foothold adjustment...