Hybrid-state driven autonomous control for planar bipedal locomotion over randomly sloped non-uniform stairs

Zachariah, Sam K.; Kurian, Thomas

doi:10.1016/j.robot.2017.08.003

Cited by 3 publications

(2 citation statements)

References 19 publications

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“…Where are the length of the leg for thigh and shank. To avoid collision with the stair, the support by hip joint should be relatively small position into the stairs, and the constraint that following can be satisfied: (13) Where are the coordinate vector of the hip. is the deep stairs and is step length of stairs.…”

Section: Hip Trajectories Generationmentioning

confidence: 99%

“…Many researchers built humanoid robots for climbing stairs using hybrid state-driven autonomous control in the condition of random perturbation, external force, and ununiform stairs. The robust system has been verified by the simulation of 12 DoF [13]. Gait planning for ascending and descending stairs of 7 DoF biped robot considers the power consumption and the balance of walking using GA and PSO algorithm [14].…”

Section: Introductionmentioning

confidence: 99%

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Implementation and Integration of Fuzzy Algorithms for Descending Stair of KMEI Humanoid Robot

Sari

Dewanto

Pramadihanto

2020

emitter

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Locomotion of humanoid robot depends on the mechanical characteristic of the robot. Walking on descending stairs with integrated control systems for the humanoid robot is proposed. The analysis of trajectory for descending stairs is calculated by the constrains of step length stair using fuzzy algorithm. The established humanoid robot on dynamically balance on this matter of zero moment point has been pretended to be consisting of single support phase and double support phase. Walking transition from single support phase to double support phase is needed for a smooth transition cycle. To accomplish the problem, integrated motion and controller are divided into two conditions: motion working on offline planning and controller working online walking gait generation. To solve the defect during locomotion of the humanoid robot, it is directly controlled by the fuzzy logic controller. This paper verified the simulation and the experiment for descending stair of KMEI humanoid robot.

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Section: Hip Trajectories Generationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Implementation and Integration of Fuzzy Algorithms for Descending Stair of KMEI Humanoid Robot

Sari

Dewanto

Pramadihanto

2020

emitter

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A review on gait generation of the biped robot on various terrains

Khan

Mandava²

2023

Robotica

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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 wheeled robots. Keeping this in mind, worldwide, many researchers are working on various aspects of biped robots, such as gait generation, dynamic balance margin, and the design of controllers. The main aim of this review article is to discuss the main challenges encountered in the biped gait generation and design of various controllers while moving on different terrain conditions such as flat, ascending and descending slopes or stairs, avoiding obstacles/ditches, uneven terrain, and an unknown environment. As per the authors’ knowledge, no single study has been carried out in one place related to the gait generation and design of controllers for each joint of the biped robot on various terrains. This review will help researchers working in this field better understand the concepts of gait generation, dynamic balance margin, and the design of controllers while moving on various terrains. Moreover, the current article will also cover the different soft computing techniques used to tune the gains of the controllers. In this article, the authors have reviewed a vast compilation of research work on the gait generation of the biped robot on various terrains. Further, the authors have proposed taxonomies on various design issues identified while generating the gait in different aspects. The authors reviewed approximately 296 articles and discovered that all researchers attempted to generate the dynamically balanced biped gait on various terrains.

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