Relevant bibliographies by topics / Planar walking robot

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  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Planar walking robot'

Author: Grafiati
Published: 7 July 2024
Last updated: 19 July 2025

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Journal articles on the topic "Planar walking robot"

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Ghanbari, Ahmad, S. Mohammad Reza S. Noorani, Hamid HajiMohammadi, and Aida Parvaresh. "Toward Realization a 7-Links Biped Robot - Trajectory Generation." Advanced Materials Research 816-817 (September 2013): 712–16. http://dx.doi.org/10.4028/www.scientific.net/amr.816-817.712.

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Naturalistic walking is one of the most important purposes of researches on biped robots. A feasible way is to translate the understanding of human walking to robot walking. One of the options that affects the quality of motion in a biped robot is concerned with trajectory generation. So, in this paper it's focused on trajectory generation methods for implementing a 7-links planar walker biped robot. Also, this model is simulated by VisualNastran software package and run according to a Clinical Gait Analysis (CGA) reference that has been modified for a planar model. Lastly, the results of simu
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Zhou, Yu. "On the planar stability of rigid-link binary walking robots." Robotica 21, no. 6 (2003): 667–75. http://dx.doi.org/10.1017/s0263574703005162.

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A binary walking robot moves as a result of bi-state actuator transitions. Because of the bi-state nature of binary joints, many research results about continuous walking robots cannot be applied to binary walking robots directly. In this paper, a new and simple model of rigid-link binary walking robot is proposed, around which related concepts are introduced, and formulas are derived. Based on this model, general characteristics and limitations of periodic gaits are discussed, and the stability qualities of several straight-line walking periodic gaits are studied in both pitch-greater-than-st
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Ji, Qiaoli, Zhihui Qian, Lei Ren, and Luquan Ren. "How does ankle push-off balance the walking speed and energy efficiency of planar biped robots?" Advances in Mechanical Engineering 13, no. 4 (2021): 168781402110119. http://dx.doi.org/10.1177/16878140211011905.

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Ankle push-off is defined as the phase in which muscle-tendon units about the ankle joint generate a burst of positive power during the step-to-step transition in human walking. The dynamic walking of a biped robot can be effectively realized through ankle push-off. However, how to use ankle push-off to balance the walking speed and energy efficiency of biped robots has not been studied deeply. In this study, the effects of the step length (the inter-leg angle is 40°, 50°, and 60°), torque and timing of ankle push-off on the walking speed and energy efficiency of biped robots were studied. The
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Agrawal, Abhishek, and Sunil K. Agrawal. "An Approach to Identify Joint Motions for Dynamically Stable Walking." Journal of Mechanical Design 128, no. 3 (2005): 649–53. http://dx.doi.org/10.1115/1.2181996.

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Biped robots are more versatile than conventional wheeled robots, but they tend to tip over easily. The dynamic stability of a biped robot needs to be maintained during walking. In this paper, a novel approach to compute dynamically stable walking motions of a planar six degree-of-freedom biped is presented. This approach is analytical and is based on the need for periodicity of the motion. The resulting gait satisfies the dynamic stability criteria. Sets of joint motions for different step sizes and speed of walking, i.e., quasi-statically and dynamically stable walking patterns, can be obtai
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Anjidani, Majid, M. R. Jahed Motlagh, M. Fathy, and M. Nili Ahmadabadi. "A novel online gait optimization approach for biped robots with point-feet." ESAIM: Control, Optimisation and Calculus of Variations 25 (2019): 81. http://dx.doi.org/10.1051/cocv/2017034.

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Designing a stable walking gait for biped robots with point-feet is stated as a constrained nonlinear optimization problem which is normally solved by an offline numerical optimization method. On the result of an unknown modeling error or environment change, the designed gait may be ineffective and an online gait improvement is impossible after the optimization. In this paper, we apply Generalized Path Integral Stochastic Optimal Control to closed-loop model of planar biped robots with point-feet which leads to an online Reinforcement Learning algorithm to design the walking gait. We study the
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BAGHERI, AHMAD, FARID NAJAFI, REZA FARROKHI, RAHMAN YOUSEFI MOGHADDAM, and MOHAMMAD EBRAHIM FELEZI. "DESIGN, DYNAMIC MODIFICATION, AND ADAPTIVE CONTROL OF A NEW BIPED WALKING ROBOT." International Journal of Humanoid Robotics 03, no. 01 (2006): 105–26. http://dx.doi.org/10.1142/s0219843606000527.

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Recently, a lot of research has been conducted in the area of biped walking robots that could be compared to human beings. The aim of this article is to control a new planar biped robot by means of an adaptive procedure. The newly designed robot is able to move on its heel like a human. After derivation of dynamic equations of motion for two states of the robot, namely, "supporting leg and trunk" and "swing leg" separately, the stability of robot is achieved by locating the zero moment point (ZMP). A dynamic modification is developed for ZMP positioning. For motion control of the robot, the ph
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Channon, P. H., S. H. Hopkins, and D. T. Pham. "Derivation of optimal walking motions for a bipedal walking robot." Robotica 10, no. 2 (1992): 165–72. http://dx.doi.org/10.1017/s026357470000758x.

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SUMMARYThe problem of determining energy optimal walking motions for a bipedal walking robot is considered. A full dynamic model of a planar seven-link biped with feet is derived including the effects of impact of the feet with the ground. Motions of the hip and feet during a regular step are then modelled by 3rd order polynomials, the coefficients of which are obtained by numerically minimising an energy cost function. Results are given in the form of walking profiles and energy curves for the specific cases of motion over level ground, motion up and down an incline, and varying payload.
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Tang, Yongchen, Shugen Ma, Yi Sun, and Dingxin Ge. "Planar legged walking of a passive-spine hexapod robot." Advanced Robotics 29, no. 23 (2015): 1510–25. http://dx.doi.org/10.1080/01691864.2015.1070105.

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Krishchenko, A. P., S. B. Tkachev, and D. A. Fetisov. "Planar walking control for a five-link biped robot." Computational Mathematics and Modeling 18, no. 2 (2007): 176–91. http://dx.doi.org/10.1007/s10598-007-0018-8.

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Şafak, Koray K., Turgut Batuhan Baturalp, and Selim Bozkurt. "Parametric Design and Prototyping of a Low-Power Planar Biped Robot." Biomimetics 8, no. 4 (2023): 346. http://dx.doi.org/10.3390/biomimetics8040346.

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This study proposes a design approach and the development of a low-power planar biped robot named YU-Bibot. The kinematic structure of the robot consists of six independently driven axes, and it weighs approximately 20 kg. Based on biomimetics, the robot dimensions were selected as the average anthropomorphic dimensions of the human lower extremities. The optimization of the mechanical design and actuator selection of the robot was based on the results of parametric simulations. The natural human walking gait was mimicked as a walking pattern in these simulations. As a result of the optimizati
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Dissertations / Theses on the topic "Planar walking robot"

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Langard, Morgan. "Robot humanoïde bioinspiré : Conception et expérimentation." Electronic Thesis or Diss., Angers, 2023. http://www.theses.fr/2023ANGE0079.

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En robotique humanoïde, la marche bipède est encore un sujet de recherche riche : développement de loi de commande, génération de trajectoires de marche, conception d’architectures originales, etc. Les robots bipèdes utilisent classiquement des moteurs rotatifs. Ces actionneurs sont couplés à un système de réduction afin de fournir les couples requis. Cette combinaison impose de trouver un compromis entre le couple de sortie et la réversibilité du système d’actionnement, limitant l’absorption des impacts. Une alternative possible est l’utilisation de moteurs linéaires à entraînement direct, mé
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Yang, Tao. "Control of aperiodic walking and the energetic effects of parallel joint compliance of planar bipedal robots." Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1196203534.

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Yang, Yun-Yu, and 楊昀諭. "Modeling and Walking Control of a Seven-link Planar Biped Robot." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/40155465814225506651.

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碩士<br>國立中興大學<br>機械工程學系所<br>100<br>In this thesis, modeling and control of a seven-link planar biped robot are considered. The dynamics models including the double support phase and single support phase motion equations are first derived using the Lagrange’s equations. And then based on conservation of angular momentum, the impact’s angular velocity transformation equations are derived. A gait pattern consisted of a preparation phase, two complete paces, and one ending phase, is synthesized by considering the support leg as a single inverted pendulum and the swing leg’s trajectories are planned
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Pasupuleti, Murali Krishna. "Design and Implementation of Voltage Based Human Inspired Feedback Control of a Planar Bipedal Robot AMBER." Thesis, 2012. http://hdl.handle.net/1969.1/ETD-TAMU-2012-08-11447.

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This thesis presents an approach towards experimental realization of underactuated bipedal robotic walking using human data. Human-inspired control theory serves as the foundation for this work. As the name, "human-inspired control," suggests, by using human walking data, certain outputs (termed human outputs) are found which can be represented by simple functions of time (termed canonical walking functions). Then, an optimization problem is used to determine the best fit of the canonical walking function to the human data, which guarantees a physically realizable walking for a specific bipeda
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Li, Hau-Koung, and 李皓光. "Path Planning and Simulation of Autonomous Quadruped Robot Walking through Non-planar Type River-stone Terrain." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/69551529818831413067.

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碩士<br>國立交通大學<br>機械工程系所<br>96<br>The applications of a quadruped robot are adopted quite extensive, such as military, industry, entertainment, etc. Higher and higher topographical and environmental adaptive capacity requirement pushes the research intensity focus on the autonomous, sensory technology and gait planning etc. The related research works about multi-leg locomotive have been afforded a big progress recently. There are quite a few research works focus on the gait development of discontinuous terrain such as the case of a quadruped robot climbing on an inclined wall surface only by hol
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Book chapters on the topic "Planar walking robot"

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Yamano, Junsei, Masaki Kurokawa, Yuki Sakai, and Kenji Hashimoto. "Walking Motion Generation of Bipedal Robot Based on Planar Covariation Using Deep Reinforcement Learning." In Synergetic Cooperation Between Robots and Humans. Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-47269-5_21.

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Van Damme, M., R. Van Ham, B. Vanderborght, F. Daerden, and D. Lefeber. "Design of a “Soft” 2-DOF Planar Pneumatic Manipulator." In Climbing and Walking Robots. Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_67.

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M’sirdi, N. K., N. Khraief, and O. Licer. "Gaits Stabilization for Planar Biped Robots Using Energetic Regulation." In Climbing and Walking Robots. Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_61.

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Harvey, D., G. S. Virk, and D. Azzi. "GA Optimisation of the PD Coefficients for the LMBC of a Planar Biped." In Climbing and Walking Robots. Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_57.

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Sadati, Nasser, Guy A., and Kaveh Akbari. "Design of a Neural Controller for Walking of a 5-Link Planar Biped Robot via Optimization." In Human-Robot Interaction. InTech, 2010. http://dx.doi.org/10.5772/8144.

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Conference papers on the topic "Planar walking robot"

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Liu, Chenhao, Jingang Yi, Long He, Yijun Zhang, Xiufeng Zhang, and Tao Liu. "Foot Arch Stiffness-Based Dynamic Plantar Support Control of Human Walking Gait with Active Pneumatic Insoles." In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2024. https://doi.org/10.1109/iros58592.2024.10802837.

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Kumar, Akshay, and Vivek Sangwan. "Planar Bipedal Walking Robot with Differentially Flat Dynamics." In 10th Vienna Conference on Mathematical Modelling. ARGESIM Publisher Vienna, 2022. http://dx.doi.org/10.11128/arep.17.a17203.

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Bhattacharya, Subhrajit, Sachin Chitta, Vijay Kumar, and Daniel Lee. "Optimization of a Planar Quadruped Dynamic Leap." In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-50072.

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Quadruped walking robots need to handle high obstacles like steps that are often not kinematically reachable. We present a dynamic leap that allows a quadruped robot to put its front legs up onto a high rock or ledge, a motion we have found is critical to being able to locomote over rough terrain. The leaping motion was optimized using a simulated planar quadruped model. We present experimental results for the implementation of this optimized motion on a real quadruped robot.
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Martin, Anne E., and James P. Schmiedeler. "Experimental Validation of a Walking Model for Planar Bipeds With Curved Feet." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-48243.

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Bipeds with curved feet typically require less energy for walking than do point- or flat-footed bipeds, and they tend to mimic human gait more closely. Thus, understanding the effects of curved feet on bipedal walking gaits has the potential to improve both humanoid robot efficiency and human rehabilitation. This paper derives the equations of motion for planar bipeds with curved feet under the assumption, among others, of instantaneous transfer of support between the legs. The paper then verifies the mathematical model by comparing the results of simulation to previous experimental results fo
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Westervelt, E. R., G. Buche, and J. W. Grizzle. "Inducing dynamically stable walking in an underactuated prototype planar biped." In IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004. IEEE, 2004. http://dx.doi.org/10.1109/robot.2004.1308942.

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Azimi, Mohsen, and M. R. Hairi Yazdi. "Energy Dissipation Rate Control for Planar Biped Walking Robot Based on the Property of Passive Dynamic Walking." In ASME 2014 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/imece2014-39628.

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Several control methods based on passive dynamic walking have been proposed by researchers to provide an efficient human-like biped walking robot. For most of these passive based controllers the main idea is to shape the robot’s energy level during each Single Support Phase (SSP) to restore the mechanical energy which has been lost in the previous Impact Phases (IP). In this paper, instead of controlling the energy restoration rate during each SSP, a new strategy is introduced which provides a stable walking by controlling the energy dissipation rate during each IP. Subsequently, this method i
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Galindo, Raul Lema, Elise Weimholt, and James P. Schmiedeler. "Actuated Dual-Slip Model of Planar Slope Walking." In ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-97601.

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Abstract The planar dual spring-loaded inverted pendulum (dual-SLIP) model is a well-established passive template of human walking on flat ground. This paper applies an actuated extension of the model to walking on inclines and declines to evaluate how well it captures the behavior observed in human slope walking. The motivation is to apply the template to improve control of humanoid robot walking and/or intent detection in exoskeleton-assisted walking. Gaits of the actuated planar dual-SLIP model are found via the solution of a constrained nonlinear optimization problem in ten parameters. The
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Hou, Wenqi, Honglei An, Taihui Zhang, Jian Wang, and Hongxu Ma. "Robust walking control of a planar spring mass biped robot." In 2015 International Conference on Control, Automation and Robotics (ICCAR). IEEE, 2015. http://dx.doi.org/10.1109/iccar.2015.7166007.

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Fattah, A., and A. Fakhari. "Trajectory Planning of Walking With Different Step Lengths of a Seven-Link Biped Robot." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28626.

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Most of the essential parameters of the human walking can be captured with a seven-link planar biped robot. In this paper, dynamics modeling and trajectory planning of a seven-link planar biped robot walking on a level ground with a ditch or stairs are studied. The hip and foot trajectories are designed in Cartesian space using polynomial interpolation such that to vanish the impact effect of feet with ground. The key parameters of the hip joint trajectory in x-axis direction are obtained using boundaries of biped stable region during the walking to satisfy dynamic stability of robot. Then the
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Kaddar, Bassel, Yannick Aoustin, and Christine Chevallereau. "Arms Swing Effects on a Walking Planar Biped." In ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/esda2012-82561.

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A walking gait is designed for a planar biped with two identical three-link legs, a trunk and two one-link arms. This nine-link biped is controlled via eight torques to obtain one step of a cyclic gait. The scope of this paper is to investigate the effects of arms swing on the energy consumption during walking of a fully actuated planar biped robot. Kinematics and dynamics of a biped, HYDROID, are used for this study. Desired gaits are considered to be cyclic having single support phases separated by flat foot impacts. Different evolutions of the arms: arms held, arms bound and arms swing are
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