Toward a human-like biped robot with compliant legs

Iida, Fumiya; Minekawa, Yohei; Rummel, Juergen; Seyfarth, André

doi:10.1016/j.robot.2007.12.001

Cited by 59 publications

(32 citation statements)

References 15 publications

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“…For validating hypotheses in human locomotion [GSB06] and to overcome the limitations of current robot legs three-segmented bipedal robot legs have been developed by the Locomotion Laboratory of the University of Jena in cooperation with TETRA GmbH, Ilmenau [IMRS06]. Four major leg muscle groups (cf.…”

Section: Passively Compliant Three-segmented Bipedal Robot Legsmentioning

confidence: 99%

Walking, Running and Kicking of Humanoid Robots and Humans

Stelzer

Stryk

2008

From Nano to Space

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Summary. In this paper key aspects and several methods for modeling, simulation, optimization and control of the locomotion of humanoid robots and humans are discussed. Similarities and differences between walking and running of humanoid robots and humans are outlined. They represent several, different steps towards the ultimate goals of understanding and predicting human motion by validated simulation models and of developing humanoid robots with human like performance in walking and running. Numerical and experimental results are presented for modelbased optimal control as well as for hardware-in-the-loop optimization of humanoid robot walking and for forward dynamics simulation and optimization of a human kicking motion.

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Section: Passively Compliant Three-segmented Bipedal Robot Legsmentioning

confidence: 99%

Walking, Running and Kicking of Humanoid Robots and Humans

Stelzer

Stryk

2008

From Nano to Space

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“…The third type of biomechanical leg is used to study the motion of human gait. Examples of these types are the biped robots studied in (Hwang et al 2016;Otani et al 2016;Yi et al 2016;Iida et al 2009 andIida et al 2007). In this paper, a biped robot with biomechanical legs capable of mimicking the main features of human gait was considered, but, to start with, any suitable biomechanical design, we must take into consideration the importance of ground reaction forces, especially when building a biomechanical leg.…”

Section: Introductionmentioning

confidence: 99%

Design of Biomechanical Legs with a Passive Toe Joint for Enhanced Human-like Walking

Zaier

Al-Yahmedi

2017

Jou. Eng. Res.

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This paper presents the design procedure of a biomechanical leg, with a passive toe joint, which is capable of mimicking the human walking. This leg has to provide the major features of human gait in the motion trajectories of the hip, knee, ankle, and toe joints. Focus was given to the approach of designing the passive toe joint of the biomechanical leg in its role and effectiveness in performing human like motion. This study was inspired by experimental and theoretical studies in the fields of biomechanics and robotics. Very light materials were mainly used in the design process. Aluminum and carbon fiber parts were selected to design the proposed structure of this biomechanical leg, which is to be manufactured in the Mechanical Lab of the Sultan Qaboos University (SQU). The capabilities of the designed leg to perform the normal human walking are presented. This study provides a noteworthy and unique design for the passive toe joint, represented by a mass-spring damper system, using torsion springs in the foot segment. The working principle and characteristics of the passive toe joint are discussed. Four-designed cases, with different design parameters, for the passives toe joint system are presented to address the significant role that the passive toe joint plays in human-like motion. The dynamic motion that is used to conduct this comparison was the first stage of the stance motion. The advantages of the presence of the passive toe joint in gait, and its effect on reducing the energy consumption by the other actuated joints are presented and a comparison between the four-designed cases is discussed.

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“…One of the other disadvantages of ZMP is that the robot moves very slowly and unflexibly. In order to improve the flexibility of robot and energy saving capabilities, some authors [7][8][9][10][11][12][13] put elastic components for smooth dynamic motion. By these researches [7][8][9][10][11][12][13], robot is flexible when the feet of robot still exist.…”

Section: Introductionmentioning

confidence: 99%

Hierarchical Sliding Mode Algorithm for Athlete Robot Walking

Nguyen

Huynh

Nguyen

et al. 2017

Journal of Robotics

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Dynamic equations and the control law for a class of robots with elastic underactuated MIMO system of legs, athlete Robot, are discussed in this paper. The dynamic equations are determined by Euler-Lagrange method. A new method based on hierarchical sliding mode for controlling postures is also introduced. Genetic algorithm is applied to design the oscillator for robot motion. Then, a hierarchical sliding mode controller is implemented to control basic posture of athlete robot stepping. Successful simulation results show the motion of athlete robot.

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Toward a human-like biped robot with compliant legs

Cited by 59 publications

References 15 publications

Walking, Running and Kicking of Humanoid Robots and Humans

Walking, Running and Kicking of Humanoid Robots and Humans

Design of Biomechanical Legs with a Passive Toe Joint for Enhanced Human-like Walking

Hierarchical Sliding Mode Algorithm for Athlete Robot Walking

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