Stable Robotic Walking Research Articles

Bipedal robotic walking control derived from analysis of human locomotion

This paper proposes the design of a bipedal robotic controller where the function between the sensory input and motor output is treated as a black box derived from human data. In order to achieve this, we investigated the causal relationship between ground contact information from the feet and leg muscle activity n human walking and calculated filter functions which transform sensory signals to motor actions. A minimal, nonlinear, and robust control system was created and subsequently analysed by applying it to our bipedal robot RunBot III without any central pattern generators or precise trajectory control. The results demonstrate that our controller can generate stable robotic walking. This indicates that complex locomotion patterns can result from a simple model based on reflexes and supports the premise that human-derived control strategies have potential applications in robotics or assistive devices.

Design and Implementation of Stable Gait for Bipedal Robot

This paper presents an optimized method of gait planning for a small biped humanoid robot which developed independently. The method is based on the research of the gait generation patterns for biped robot and analyses the gait generation method which based on three dimensional linear inverted pendulum and the relationship between the COG height, initial velocity, step length and the walk cycle. We carry on the design of bipedal robot gait and realize the stable walking of robot. The simulation and experimental results have confirmed the feasibility of this method.

Human-Inspired Control of Bipedal Walking Robots

This paper presents a human-inspired control approach to bipedal robotic walking: utilizing human data and output functions that appear to be intrinsic to human walking in order to formally design controllers that provably result in stable robotic walking. Beginning with human walking data, outputs-or functions of the kinematics-are determined that result in a low-dimensional representation of human locomotion. These same outputs can be considered on a robot, and human-inspired control is used to drive the outputs of the robot to the outputs of the human. The main results of this paper are that, in the case of both under and full actuation, the parameters of this controller can be determined through a human-inspired optimization problem that provides the best fit of the human data while simultaneously provably guaranteeing stable robotic walking for which the initial condition can be computed in closed form. These formal results are demonstrated in simulation by considering two bipedal robots-an underactuated 2-D bipedal robot, AMBER, and fully actuated 3-D bipedal robot, NAO-for which stable robotic walking is automatically obtained using only human data. Moreover, in both cases, these simulated walking gaits are realized experimentally to obtain human-inspired bipedal walking on the actual robots.