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1
Mamrak, Justin. "MARK II a biologically-inspired walking robot /." Ohio : Ohio University, 2008. http://www.ohiolink.edu/etd/view.cgi?ohiou1226694264.
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Chen, Zhongkai. "Optimized Walking of an 8-link 3D Bipedal Robot." Thesis, Paris, ENSAM, 2015. http://www.theses.fr/2015ENAM0027/document.
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D'un point de vue énergétique, les robots marcheurs sont moins performants que les humains. Face à ce défi, cette thèse propose une approche pour contrôler et optimiser les allures de marche des robots bipèdes à la fois en 2D et 3D en considérant les fréquences propres du robot et par ajout de ressorts. L'étude porte essentiellement sur un robot bipède 2D à 5 corps et des pieds ponctuels ainsi qu'un robot bipède 3D à 8 corps avec des pieds sans masse à contact linéique. La commande en boucle fermée considérée est basée sur la méthode des contraintes virtuelles et la linéarisation par retour d'état. Suite à des études précédentes, la stabilité du robot bipède 2D est vérifiée par une section de Poincaré unidimensionnelle et étendue au robot bipède 3D à contact linéique avec le sol. L'optimisation est effectuée en utilisant la programmation quadratique séquentielle. Les paramètres optimisés incluent des coefficients de polynômes de Bézier et des paramètres posturaux. Des contraintes d'optimisation sont imposées pour assurer la validité de l'allure de marche. Pour le robot bipède 2D, deux configurations différentes de ressorts placés aux hanches sont étudiées. Ces deux configurations ont permis de réduire le coût énergétique. Pour le robot bipède 3D, les paramètres d'optimisation sont séparés en deux parties : ceux décrivant le mouvement dans le plan sagittal et ceux du plan frontal. Les résultats de l'optimisation montrent que ces deux types de paramètres doivent être optimisés. Ensuite, des ressorts sont ajoutés respectivement par rapport au plan sagittal, par rapport au plan frontal puis dans les deux plans. Les résultats montrent que l'ajout des ressorts dans le plan sagittal permet de réduire significativement le coût énergétique et que l'association de ressorts dans le plan frontal améliore encore plus la consommation d'énergieFrom an energy standpoint, walking robots are less efficient than humans. In facing this challenge, this study aims to provide an approach for controlling and optimizing the gaits of both 2D and 3D bipedal robots with consideration for exploiting natural dynamics and elastic couplings. A 5-link 2D biped with point feet and an 8-link 3D biped with massless line feet are studied. The control method is based on virtual constraints and feedback linearization. Following previous studies, the stability of the 2D biped is verified by computing scalar Poincaré map in closed form, and now this method also applies to the 3D biped because of its line-foot configuration. The optimization is performed using sequential quadratic programming. The optimization parameters include postural parameters and Bézier coefficients, and the optimization constraints are used to ensure gait validity. For the 2D biped, two different configurations of hip joint springs are investigated and both configurations successfully reduce the energy cost. For the 3D biped, the optimization parameters are further divided into sagittal parameters and coronal parameters, and the optimization results indicate that both these parameters should be optimized. After that, hip joint springs are added respectively to the sagittal plane, the coronal plane and both these planes. The results demonstrate that the elastic couplings in the sagittal plane should be considered first and that the additional couplings in the coronal plane reduce the energy cost even further
3
Krajíček, Lukáš. "Implementace řídicích členů pro mobilní kráčivý robot." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-230071.
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This diploma thesis deals with design and implementation of the controllers of a mobile walking robot. The advantage of these controllers are their kinematics and geometrics independent representation, which allow to use them for different robot types and tasks. In this thesis the contact controller is designed, which minimizes residual forces and torques at the robot's center of gravity, and thereby stabilize robot's body. Next the thesis deals with a posture controller, which maximizes a heuristic posture measure to optimize posture of robot body. Because of this optimization, legs are moved away from their limits and therefore they have more working space for next move. Implementation of the chosen solution is made on the robot's MATLAB mathematical model. Controllers are composed into a control basis, that allows to solve general control tasks by simultaneous combination of contained controllers. The algorithm was created for that simultaneous activation and its operation was explained on flow charts.
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Geng, Tao. "Fast biped walking with a neuronal controller and physical computation." Thesis, University of Stirling, 2007. http://hdl.handle.net/1893/141.
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Biped walking remains a difficult problem and robot models can greatly {facilitate} our understanding of the underlying biomechanical principles as well as their neuronal control. The goal of this study is to specifically demonstrate that stable biped walking can be achieved by combining the physical properties of the walking robot with a small, reflex-based neuronal network, which is governed mainly by local sensor signals. This study shows that human-like gaits emerge without {specific} position or trajectory control and that the walker is able to compensate small disturbances through its own dynamical properties. The reflexive controller used here has the following characteristics, which are different from earlier approaches: (1) Control is mainly local. Hence, it uses only two signals (AEA=Anterior Extreme Angle and GC=Ground Contact) which operate at the inter-joint level. All other signals operate only at single joints. (2) Neither position control nor trajectory tracking control is used. Instead, the approximate nature of the local reflexes on each joint allows the robot mechanics itself (e.g., its passive dynamics) to contribute substantially to the overall gait trajectory computation. (3) The motor control scheme used in the local reflexes of our robot is more straightforward and has more biological plausibility than that of other robots, because the outputs of the motorneurons in our reflexive controller are directly driving the motors of the joints, rather than working as references for position or velocity control. As a consequence, the neural controller and the robot mechanics are closely coupled as a neuro-mechanical system and this study emphasises that dynamically stable biped walking gaits emerge from the coupling between neural computation and physical computation. This is demonstrated by different walking experiments using two real robot as well as by a Poincar\' map analysis applied on a model of the robot in order to assess its stability. In addition, this neuronal control structure allows the use of a policy gradient reinforcement learning algorithm to tune the parameters of the neurons in real-time, during walking. This way the robot can reach a record-breaking walking speed of 3.5 leg-lengths per second after only a few minutes of online learning, which is even comparable to the fastest relative speed of human walking.
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Erden, Mustafa Suphi. "Six-legged Walking Machine: The Robot-ea308." Phd thesis, METU, 2006. http://etd.lib.metu.edu.tr/upload/12607356/index.pdf.
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The work presented in this thesis aims to make contribution to the understanding and application of six-legged statically stable walking machines in both theoretical and practical levels. In this thesis five pieces of work, performed with and for the three-joint six-legged Robot-EA308, are presented: 1) Standard gaits, which include the well-known wave gaits, are defined and a stability analysis, in the sense of static stable walking, is performed on an analytical level. Various definitions are giventheorems are stated and proved. 2) A free gait generation algorithm with reinforcement learning is developed. Its facilities of stability improvement, smooth speed changes, and adaptation in case of a rear-leg deficiency with learning of five-legged walking are experimented in real-time on the Robot-EA308. 3) Trajectory optimization and controller design is performed for the protraction movement of a three-joint leg. The trajectory generated by the controller is demonstrated with the Robot-EA308. 4) The full kinematic-dynamic formulation of a three-joint six-legged robot is performed with the joint-torques being the primary variables. It is demonstrated that the proposed torque distribution scheme, rather than the conventional force distribution, results in an efficient distribution of required forces and moments to the supporting legs. 5) An analysis of energy efficiency is performed for wave gaits. The established strategies for determination of gait parameters for an efficient walk are justified using the Robot-EA308.
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au, shiqi peng@woodside com, and Shiqi Peng. "A Biologically Inspired Four Legged Walking Robot." Murdoch University, 2006. http://wwwlib.murdoch.edu.au/adt/browse/view/adt-MU20070115.113710.
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This Ph.D. thesis presents the design and implementation of a biologically inspired
four-phase walking strategy using behaviours for a four legged walking robot. In
particular, the walking strategy addresses the balance issue, including both static and
dynamic balance that were triggered non-deterministically based on the robots realtime interaction with the environment. Four parallel Subsumption Architectures
(SA) and a simple Central Pattern Producer (CPP) are employed in the physical
implementation of the walking strategy. An implementation framework for such a
parallel Subsumption Architecture is also proposed to facilitate the reusability of the
system. A Reinforcement Learning (RL) method was integrated into the CPP to
allow the robot to learn the optimal walking cycle interval (OWCI), appropriate for
the robot walking on various terrain conditions. Experimental results demonstrate
that the robot employs the proposed walking strategy and can successfully carry out
its walking behaviours under various experimental terrain conditions, such as flat
ground, incline, decline and uneven ground. Interactions of all the behaviours of the
robot enable it to exhibit a combination of both preset and emergent walking
behaviours.
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Peng, Shiqi. "A biologically inspired four legged walking robot." Peng, Shiqi (2006) A biologically inspired four legged walking robot. PhD thesis, Murdoch University, 2006. http://researchrepository.murdoch.edu.au/255/.
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This Ph.D. thesis presents the design and implementation of a biologically inspired four-phase walking strategy using behaviours for a four legged walking robot. In particular, the walking strategy addresses the balance issue, including both static and dynamic balance that were triggered non-deterministically based on the robot's realtime interaction with the environment. Four parallel Subsumption Architectures (SA) and a simple Central Pattern Producer (CPP) are employed in the physical implementation of the walking strategy. An implementation framework for such a parallel Subsumption Architecture is also proposed to facilitate the reusability of the system. A Reinforcement Learning (RL) method was integrated into the CPP to allow the robot to learn the optimal walking cycle interval (OWCI), appropriate for the robot walking on various terrain conditions. Experimental results demonstrate that the robot employs the proposed walking strategy and can successfully carry out its walking behaviours under various experimental terrain conditions, such as flat ground, incline, decline and uneven ground. Interactions of all the behaviours of the robot enable it to exhibit a combination of both preset and emergent walking behaviours.
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Angle, Colin. "Genghis, a six legged autonomous walking robot." Thesis, Massachusetts Institute of Technology, 1989. http://hdl.handle.net/1721.1/14531.
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Binnard, Michael B. "Design of a small pneumatic walking robot." Thesis, Massachusetts Institute of Technology, 1995. http://hdl.handle.net/1721.1/10422.
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Szabari, Mikuláš. "Konstrukce kráčejícího mobilního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-382418.
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The diploma thesis deals with the construction of a walking mobile robot, which is intended for passing through a rugged or forest terrain, whose task is to collect the sample. The first part is devoted to the review of walking robots. Follow-up an analysis of two-legged and four-leg walking robot technologies and a brief overview of drives. The second part is devoted to problem analysis and design variant. The work contains 4 design variants in the form of schemes. Using the multi-criteria analysis, the variants were evaluated and the optimal variant was chosen taking into account the representative parameters. The third part is devoted to the construction of the chosen variant, it is divided into body and leg construction. The overall design is processed in the form of a virtual 3D model. In the leg construction, the design itself, but also the calculations of drives, shafts, gears and belt transmissions are solved. The end of the thesis is devoted to drawing documentation based on 3D model and economic evaluation. Follow-up and discussion with possible continuation and use in practice.
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Wardle, Javan Brent. "Hexapod robot locomotion over uneven terrain." Thesis, University of Salford, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.360453.
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Pratt, Jerry E. "Virtual Model Control of a Biped Walking Robot." Thesis, Massachusetts Institute of Technology, 1995. http://hdl.handle.net/1721.1/7082.
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The transformation from high level task specification to low level motion control is a fundamental issue in sensorimotor control in animals and robots. This thesis develops a control scheme called virtual model control which addresses this issue. Virtual model control is a motion control language which uses simulations of imagined mechanical components to create forces, which are applied through joint torques, thereby creating the illusion that the components are connected to the robot. Due to the intuitive nature of this technique, designing a virtual model controller requires the same skills as designing the mechanism itself. A high level control system can be cascaded with the low level virtual model controller to modulate the parameters of the virtual mechanisms. Discrete commands from the high level controller would then result in fluid motion. An extension of Gardner's Partitioned Actuator Set Control method is developed. This method allows for the specification of constraints on the generalized forces which each serial path of a parallel mechanism can apply. Virtual model control has been applied to a bipedal walking robot. A simple algorithm utilizing a simple set of virtual components has successfully compelled the robot to walk eight consecutive steps.
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Bailey, David William. "Transfer of support in a dynamic walking robot." Thesis, Massachusetts Institute of Technology, 1995. http://hdl.handle.net/1721.1/38104.
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Maximo, Marcos Ricardo Omena de Albuquerque. "Omnidirectional ZMP-based walking for a humanoid robot." Instituto Tecnológico de Aeronáutica, 2015. http://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=3242.
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Humanoid walking is considered one of the hardest problems in Robotics. Current state-of-the-art humanoid robots are able to achieve high speeds on flat ground. However, they still exhibit agility, dexterity, robustness, flexibility and energy efficiency far below a typical human does. In this thesis, our main goal is to develop an omnidirectional walking engine for a humanoid robot. We follow an approach based on the Zero Moment Point (ZMP) concept, which provides an useful criterion for biped stability. To avoid dealing directly with the complex dynamics of a high degrees of freedom humanoid robot, we used the 3D Linear Inverted Pendulum Model (3D-LIPM) to approximate the robot dynamics. The resulting equations allowed us to find a suitable center of mass (CoM) trajectory to maintain the robot balance analytically by solving a boundary value problem. Furthermore, we employed strategies to improve the walking robustness: we make the robot move its arms in order to compensate the yaw moment induced by the legs and we developed a feedback controller that uses the torso angular velocities to stabilize the walk. Taking advantage of the methods developed for walking, we also developed a kicking motion. Finally, experiments were done to validate the methods developed in this work.
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Wong, Edward Ting Ping. "Use of a Delta robot as a walking machine." Thesis, University of Canterbury. Mechanical Engineering, 1998. http://hdl.handle.net/10092/6628.
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A 3 degree of freedom (dof) parallel Delta robot was built in the laboratory of the Mechanical Engineering Department, University of Canterbury. It possesses the similar characteristics and features as Clavel’s Delta 4 robot, which is well known for pick and place applications. Due to its parallel actuated mechanisms, this type of robot, so far, has been claimed as the fastest robot in the world. However, the Canterbury Delta robot in the laboratory suffered jerky motions when travelling along a prescribed continuous path. This was due to the use of 3 single axis step motor controllers (donated) rather than a single multi-axes control system. In order to improve the performance of the robot, the 3 existing control systems were replaced by a single chip DSP controller (TMS320F240). Under control of this powerful controller, the robot is able to perform point-to-point motion and continuous path motion under an open loop control mode.
In order to use the Delta robot as a walking machine, a tripod foot was successfully developed and attached to the travelling platform of the delta robot. The result was a practical walking machine with 3 dof called Delta walker or Delta walking machine. It is based on parallel mechanisms and has a maximum allowable step length of 120mm. The step length and walking space of the Delta walking machine were studied and stimulated through a static forces analysis in Matlab1. It was found that the step length was constrained by the torque limit of the harmonic gear drives rather than the torque output by the stepping motors.
An off-line optimal continuous path planning method was developed in Matlab for real time control at the joint level. The step walking path is approximated by a set of location nodes selected on the desired path. The motion control of the machine is provided by trajectory interpolation at the joint level. The pulse rates and the direction values are generated and sent to the DSP through an RS232 serial communication port.
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Morse, Christopher John 1974. "Design of a quadruped walking robot for social interaction." Thesis, Massachusetts Institute of Technology, 2001. http://hdl.handle.net/1721.1/89305.
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Steele, Alexander Gabriel. "Biomimetic Design and Construction of a Bipedal Walking Robot." PDXScholar, 2018. https://pdxscholar.library.pdx.edu/open_access_etds/4486.
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Human balance and locomotion control is highly complex and not well understood. To understand how the nervous system controls balance and locomotion works, we test how the body responds to controlled perturbations, the results are analyzed, and control models are developed. However, to recreate this system of control there is a need for a robot with human-like kinematics. Unfortunately, such a robotic testbed does not exist despite the numerous applications such a design would have in mobile robotics, healthcare, and prosthetics.
This thesis presents a robotic testbed model of human lower legs. By using MRI and CT scans, I designed joints that require lower force for actuation, are more wear resistant, and are less prone to catastrophic failure than a traditional revolute (or pinned) joints. The result of using this process is the design, construction, and performance analysis of a biologically inspired knee joint for use in bipedal robotics.
For the knee joint, the design copies the condylar surfaces of the distal end of the femur and utilizes the same crossed four-bar linkage design the human knee uses. The joint includes a changing center of rotation, a screw-home mechanism, and patella; these are characteristics of the knee that are desirable to copy for bipedal robotics. The design was calculated to have an average sliding to rolling ratio of 0.079, a maximum moment arm of 2.7 inches and a range of motion of 151 degrees. This should reduce joint wear and have kinematics similar to the human knee. I also designed and constructed novel, adjustably-damped hip and ankle joints that use braided pneumatic actuators. These joints provide a wide range of motion and exhibit the same change in stiffness that human joints exhibit as flexion increases, increasing stability, adaptability, and controllability.
The theoretical behaviors of the joints make them desirable for use in mobile robotics and should provide a lightweight yet mechanically strong connection that is resistant to unexpected perturbations and catastrophic failure. The joints also bridge the gap between completely soft robotics and completely rigid robotics. These joints will give researchers the ability to test different control schemes and will help to determine how human balance is achieved. They will also lead to robots that are lighter and have lower power requirements while increasing the adaptability of the robot. When applying these design principles to joints used for prosthetics, we reduce the discomfort of the wearer and reduce the effort needed to move. Both of which are serious issues for individuals who need to wear a prosthetic device.
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Rais, A. I. "Design and control of a four-legged walking robot." Thesis, University of Sussex, 1986. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.372731.
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Bishop, Russell C. "A Method for Generating Robot Control Systems." Connect to resource online, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=ysu1222394834.
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Cocosco, Anca Elena. "Control of walking in a quadruped robot with stiff legs." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape11/PQDD_0023/MQ50598.pdf.
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Jackowski, Zachary John. "Design, construction, and experiments with a compass gait walking robot." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/67617.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 91-93).
In recent years a number of new computational techniques for the control of nonlinear and underactuated systems have been developed and tested largely in theory and simulation. In order to better understand how these new tools are applied to real systems and to expose areas where the theory is lacking testing on a physical model system is necessary. In this thesis a human scale, free walking, planar bipedal walking robot is designed and several of these new control techniques are tested. These include system identification via simulation error optimization, simulation based LQR-Trees, and transverse stabilization of trajectories. Emphasis is put on the topics of designing highly dynamic robots, practical considerations in implementation of these advanced control strategies, and exploring where these techniques need additional development.
by Zachary J Jackowski.
S.M.
22
Huang, Chuen-Chane. "Biped robot with a vestibular system." Diss., Virginia Tech, 1991. http://hdl.handle.net/10919/39834.
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The kinematics and dynamics of two legged or biped walking is considered. The resulting governing equations include actuator torques for a robot and muscle generated torques for a human. These torques are those necessary at each joint of a leg, including the foot, for a successful stride. The equations are developed from a consistent set variables with respect to a single inertial reference frame. This single reference frame approach has not been used by previous investigators. Control of the joint torques makes biped walking an extraordinary complex problem from a dynamics and control viewpoint. The control scheme that is developed incorporates the use of the direction of gravity as an important element in the overall control. The inclusion of gravity in biped robot walking has not previously been properly considered in other works.
A way is described to separate gravity and acceleration which are measured by an accelerometer which is on the robot. This system incorporates the use of angular motion sensing of the robot segment that contains the linear accelerometers. This system was formulated based on human motion sensing and what probably is present in the human central nervous system for processing these signals.Ph. D.
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Žák, Marek. "Řízení pohybu robota typu hexapod." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2015. http://www.nusl.cz/ntk/nusl-234889.
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This thesis discusses walking robots issues, their classification, management and construction. There are listed the most famous motion algorithms and their graphical representation. Examples of existing walking robots are also mentioned in this thesis. There are also described modifications of hexapod robot, its hardware and software. The robot is controlled through graphical user interface, which displays data from all sensors, visualises positions of all legs and allows the creation of user defined gaits and its simulations.
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Deits, Robin L. H. (Robin Lloyd Henderson). "convex segmentation and mixed-integer footstep planning for a walking robot." Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/92971.
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Thesis: S.M., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2014.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 77-82).
This work presents a novel formulation of the footstep planning problem as a mixed-integer convex optimization. The footstep planning problem involves choosing a set of footstep locations which a walking robot can follow to safely reach a goal through an environment with obstacles. Rather than attempting to avoid the obstacles, which would require nonconvex constraints, we use integer variables to assign each footstep to a convex region of obstacle-free terrain, while simultaneously optimizing its pose within that safe region. Since existing methods for generating convex obstacle-free regions were ill-suited to this task, we also present IRIS (Iterative Regional In Inflation by Semidefinite programming), a new method to generate such regions through a series of convex optimizations. Combining IRIS with the mixed-integer optimization gives a complete footstep planning architecture, which can produce complex footstep plans on height map data constructed from onboard sensors. We demonstrate the footstep planner in simulated environments and with real data sensed by the Atlas humanoid, and we discuss future applications to running robots, aerial vehicles, and robots with more than two legs.
by Robin L. H. Deits.
S.M.
25
Kljuno, Elvedin. "Elastic Cable-Driven Bipedal Walking Robot: Design, Modeling, Dynamics and Controls." Ohio University / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1354708727.
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Parseghian, Allen S. 1971. "Control of a simulated, three-dimensional bipedal robot to initiate walking, continue walking, rock side-to-side, and balance." Thesis, Massachusetts Institute of Technology, 2000. http://hdl.handle.net/1721.1/86619.
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Choi, Jongung. "LOCOMOTION CONTROL EXPERIMENTS IN COCKROACH ROBOT WITH ARTIFICIAL MUSCLES." Case Western Reserve University School of Graduate Studies / OhioLINK, 2005. http://rave.ohiolink.edu/etdc/view?acc_num=case1117207152.
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Kao, Ping-chung, and 高炳中. "Walking Pattern Planning and Balance Control for Biped Walking Robot." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/56691972550452186299.
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碩士國立臺灣科技大學
高分子系
96
The goal of this study is design a 16-D.O.F biped robot and simulate walking pattern of biped walking robot. This paper use the D-H method to calculate direct and inverse kinematics of the robot. By designing the moving path and calculating the kinematics of the biped robot, we discuss the walking pattern of the robot in space. Besides this, this research design a fuzzy balance controller to help biped robot walking stability. It’s very different with other balance controller of biped robot. The input of this controller is the moment of the biped robot. The Output of the controller is the angle of trunk compensation. In this paper we use the fuzzy balance controller to make robot achieve dynamic balance.
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Wong, Tin-Lup. "Systems design of a walking robot." 1986. http://catalog.hathitrust.org/api/volumes/oclc/13878542.html.
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Yeh, Chung-Yi, and 葉仲益. "Quadruped robot walking by fuzzy control." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/76770120662098685609.
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碩士明志科技大學
電機工程研究所
99
This paper presents an intelligent control of fuzzy logic control rules and applied to a complicated quadruped robot moving problem. The quadruped robot moving control problem is difficult to build mathematical models with uncertain properties. If the proportional-integral-derivative controller, called PID controller, design method is used to the quadruped robot moving control problem, it will have many mistakes and cannot achieve good performance. So, the concept of the fuzzy logic control rules is discussed in this paper to improve the performance of the quadruped robot moving control problem. First, the pace stability theory is discussed to the stable equilibrium of the quadruped robot moving control problem and shows the performance of this theory by the quadruped robot with actual moving. And, in the stability of symmetrical steps in the study due to institutions and more complex movement patterns caused by walking not stability problems, the pace of the torque conversion by running the design and sensor feedback to determine that the robot in the straight road surface fast and stable walk. From the simulation and experiment, the fuzzy logic control technique used in the quadruped robot moving control problem is better than the PID controller and has high robustness and performance.
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Ghorbani, Reza. "On controllable stiffness bipedal walking." 2008. http://hdl.handle.net/1993/3040.
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Impact at each leg transition is one of the main causes of energy dissipation in most
of the current bipedal walking robots. Minimizing impact can reduce the energy loss.
Instead of controlling the joint angle profiles to reduce the impact which requires significant
amount of energy, installing elastic mechanisms on the robots structure is
proposed in this research, enabling the robot to reduce the impact, and to store part
of the energy in the elastic form which returns the energy to the robot. Practically,
this motivates the development of the bipedal walking robots with adjustable stiffness
elasticity which itself creates new challenging problems. This thesis addresses some of
the challenges through five consecutive stages. Firstly, an adjustable compliant series
elastic actuator (named ACSEA in this thesis) is developed. The velocity control mode
of the electric motor is used to accurately control the output force of the ACSEA. Secondly,
three different conceptual designs of the adjustable stiffness artificial tendons
(ASAT) are proposed each of which is added at the ankle joint of a bipedal walking
robot model. Simulation results of the collision phase (part of the gait between
the heel-strike and the foot-touch-down in bipedal walking) demonstrate significant
improvements in the energetics of the bipedal walking robot by proper stiffness adjustment
of ASAT. In the third stage, in order to study the effects of ASATs on reducing
the energy loss during the stance phase, a simplified model of bipedal walking is introduced
consisting of a foot, a leg and an ASAT which is installed parallel to the ankle
joint. A linear spring, with adjustable stiffness, is included in the model to simulate the generated force by the trailing leg during the double support phase. The concept
of impulsive constraints is used to establish the mathematical model of impacts in
the collision phase which includes the heel-strike and the foot-touch-down. For the
fourth stage, an energy-feedback-based controller is designed to automatically adjust
the stiffness of the ASAT which reduces the energy loss during the foot-touch-down.
In the final stage, a speed tracking (ST) controller is developed to regulate the velocity
of the biped at the midstance. The ST controller is an event-based time-independent
controller, based on geometric progression with exponential decay in the kinetic energy
error, which adjusts the stiffness of the trailing-leg spring to control the injected energy
to the biped in tracking a desired speed at the midstance. Another controller is also
integrated with the ST controller to tune the stiffness of the ASAT when reduction in
the speed is desired. Then, the local stability of the system (biped and the combination
of the above three controllers) is analyzed by calculating the eigenvalues of the linear
approximation of the return map. Simulation results show that the combination of the
three controllers is successful in tracking a desired speed of the bipedal walking even
in the presence of the uncertainties in the leg’s initial angles.
The outcomes of this research show the significant effects of adjustable stiffness artificial
tendons on reducing the energy loss during bipedal walking. It also demonstrates
the advantages of adding elastic elements in the bipedal walking model which benefits
the efficiency and simplicity in regulating the speed. This research paves the way
toward developing the dynamic walking robots with adjustable stiffness ability which
minimize the shortcomings of the two major types of bipedal walking robots, i.e., passive
dynamic walking robots (which are energy efficient but need extensive parameters
tuning for gait stability) and actively controlled walking robots (which are significantly
energy inefficient).May 2008
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邸, 霈., and Pei DI. "Intelligent Cane Robot for Human Walking Assistance." Thesis, 2014. http://hdl.handle.net/2237/20300.
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Chu, Chia-Ching, and 朱家慶. "Walking Trajectory Planning for a Biped Robot." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/58591989901700129260.
Full textAbstract:
碩士大同大學
機械工程學系(所)
94
This thesis will plan some off-line walking trajectory for a 12 DOF biped robot. Those trajectories are walking straightly, and turning. For those purpose, the walking trajectory Planning must consider about the torque output limit of motors. Thus, the research will compute the motor’s torque during walking, and set it as constrains. When planning the walking trajectory, this research will generate independent trajectory on coronal plane and sagital plane, and combine to a 3D trajectory. The mechanism will use two two-link mechanisms for trajectory generating, and combining all the two-link mechanisms that is the trajectory of the whole mechanism. Finally, the off-line trajectory will apply in the real biped robot, and check it available or not.
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Torres, Ann L. "Virtual Model Control of a Hexapod Walking Robot." 1996. http://hdl.handle.net/1721.1/7083.
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Since robots are typically designed with an individual actuator at each joint, the control of these systems is often difficult and non-intuitive. This thesis explains a more intuitive control scheme called Virtual Model Control. This thesis also demonstrates the simplicity and ease of this control method by using it to control a simulated walking hexapod. Virtual Model Control uses imagined mechanical components to create virtual forces, which are applied through the joint torques of real actuators. This method produces a straightforward means of controlling joint torques to produce a desired robot behavior. Due to the intuitive nature of this control scheme, the design of a virtual model controller is similar to the design of a controller with basic mechanical components. The ease of this control scheme facilitates the use of a high level control system which can be used above the low level virtual model controllers to modulate the parameters of the imaginary mechanical components. In order to apply Virtual Model Control to parallel mechanisms, a solution to the force distribution problem is required. This thesis uses an extension of Gardner`s Partitioned Force Control method which allows for the specification of constrained degrees of freedom. This virtual model control technique was applied to a simulated hexapod robot. Although the hexapod is a highly non-linear, parallel mechanism, the virtual models allowed text-book control solutions to be used while the robot was walking. Using a simple linear control law, the robot walked while simultaneously balancing a pendulum and tracking an object.
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葉展宏. "The Dynamic Walking of An Underactuated Biped Robot." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/56569024757218151096.
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Ye, Shi-Shian, and 葉士賢. "A Distributed Control Algorithm for Walking Hexapod Robot." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/35680838688086935805.
Full textAbstract:
碩士逢甲大學
自動控制工程所
95
Regarding the type of robot, there are wheel type, track type, and leg robot. Leg robot is more suitable for different terrains than wheel type or track type. Leg robot can apply to such complicated rough and stairs terrains so that the mechanism is much more complicated and heavy because of its high degree of freedom. For the purpose of dynamically stable walking, the system needs a intensive and stable control. There are centralized and distributed in controller. Distributed control can decrease complicated count and accelerate efficiency of response. This paper describes the use of biologically-inspired distributed control algorithm in a walking hexapod robot for the purpose of generating stable gaits. The biologically-inspired distributed control algorithm was developed from biological observations of agile insects, which can cope easily with terrain that would defeat many legged robots. The development of walking hexapod robot is realized by biologically-inspired distributed control, which ranged from metachronal gait at slow speeds of walking to the tripod gait at high speeds of walking. This paper uses HexCrawler and Basic Stamp 2px (BS2px) microcontroller in the hardware, produced by Parallax, and PBasic programming language to realize the biologically-inspired distributed control algorithm.
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Lin, Lin-Yean, and 林陵衍. "A Motion Planning Scheme for Biped Walking Robot." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/26087374355266691905.
Full textAbstract:
碩士逢甲大學
自動控制工程研究所
84
In this paper, we build up a biped walking robot model, which has 17 linksand 42 degrees of freedom, according to the human skeletal system. Without consideration of the interia forces, this biped walking robot uses the Artif-icial Intelligent Robot Problem Solving System to plan a series of motions based on predefined basic motion form. For some motions, like the movememtof hands or legs, we utilized the Effective Vector Approach so that therobot''s limb can reach the target quickly. In short, we use the Artificial Intelligent Method to plan the sequence of motion and generate each joint''s rotation angle to accomplish the anticipated state of motion. The purpose of this thesis is to plan a series of motion to accomplish the standing up motion and the walking motion by the method mentioned above. The Artificial Intelligent Robot Problem Solving System will generate a series of the joint''s rotation angle to make the robot move from the original lying state, retract foot, bent the hip, and then standing up. After stand up,it can lift leg, stride down, then walk step by step. Finally, the generated joint''s rotation angle was offered for dynamic simulation to verify the effectiveness of the motion planning scheme.
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Fan, Wen-hsiung, and 范文雄. "Fuzzy control for a Miniature Biped Walking Robot." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/90387705282439200789.
Full textAbstract:
碩士逢甲大學
資訊電機工程碩士在職專班
96
In this thesis, a miniature biped walking robot is developed. First, the degrees of freedoms of the robot are analyzed. Then, the patterns of the joints between each element and apparatus are designed. The AI motors and their peripheral pieces are combined to be a simple biped walking robot. By using USB and RS-232 interface, this robot is controlled to communicate with the AI motors. To perform the algorithm, we predict the results of the possible orders by many kinds of mathematical formulas such as vector algorithm, inverse kinematics, walking path planning, center of gravity (COG) positioning and zero moment point (ZMP). In order to simulate the walking gesture of the robot, the MATLAB software is applied to obtain the parameters of the walking path, the vector and the rotate angle of each element, the position of center gravity, and the zero moment point, This simulation shortens the developing period and reduce the mistake rate. Then a fuzzy controller is designed and implemented to combines both the procedure of hardware and the development of software. Thus the main structure of the stable walking biped robot can be accomplished and the tracking performance can be achieved.
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Liu, Te-Chih, and 劉得志. "IMU-Based Image Stabilization for Humanoid Robot Walking." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/s8793u.
Full textAbstract:
碩士淡江大學
電機工程學系碩士班
103
This thesis presents a method for image stabilization when humanoid robot walking. Sensor feedback and motor angle situation are used to estimate the position and sight direction of camera of humanoid robot to make up for image information. In order to walk stably, humanoid robot has to swing body and move the center of mass of body to supporting leg. The swing of body effects image recognition to cause some errors for image object localization. This thesis designs an image stabilization system that getting sensor value from Inertial Measure Unit (IMU) for estimating robot attitude to correct image data. In IMU, a gyroscope is used to sense the angular velocity turn into the rotation angle by integration which is calculate in FPGA system. The rotation angle will adjust by Kalman filter in NIOS with the other angle estimation result from an accelerometer. IPC system determines the camera position and direction of sight according to the robot attitude from IMU and camera attitude from kinematics. Then IPC system correct the image information.
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Rebelo, João Luís Pinto. "Study and simulation of humanoid robot walking algorithms." Dissertação, 2010. http://hdl.handle.net/10216/58035.
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Rao, Fang-Shiang, and 饒方翔. "Active Guidance for a Passive Robot Walking Helper." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/14406536318976111496.
Full textAbstract:
碩士國立交通大學
電控工程研究所
99
Recently, the problem of aging population becomes more and more serious. How to take good care of the elderly is now an important issue around the world. Along with the progress of the medical technology, several robot walking helpers have been developed. It motivates us to develop a robot walking helper, named i-go, in our laboratory for assisting the lives of the elderly. In the thesis, based on navigation techniques previously proposed, we develop two guidance algorithms for passive walking helper, and realize them in our i-go. They are:(1)the position-controlling algorithm and (2)position and orientation-controlling algorithm. The former can guide the user to the desired position, and the latter not only guide the user to the desired position, but also to the desired orientation. The proposed guidance algorithms have been verified via the experiment. In future, we expect the i-go can assist the elderly for guidance in real environments. We will introduce the i-go to the Alzheimer’s patients, so that they can rely on it for movement under the conditions of memory decline and poor sense in orientation.
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Chiou, Chien-Jung, and 邱建榮. "The Statically Stable Walking of a Biped Robot." Thesis, 1995. http://ndltd.ncl.edu.tw/handle/43417819381675811705.
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Rebelo, João Luís Pinto. "Study and simulation of humanoid robot walking algorithms." Master's thesis, 2010. http://hdl.handle.net/10216/58035.
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Shu-Wen, Yu. "Walking Pattern Analysis and Control of a Humanoid Robot." 2006. http://www.cetd.com.tw/ec/thesisdetail.aspx?etdun=U0001-2407200613101600.
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Lin, Shih-Hsiang, and 林詩翔. "Straight Legged Walking Control of Biped Robot withForefoot Mechanism." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/16032718892622345332.
Full textAbstract:
碩士臺灣大學
生物產業機電工程學研究所
98
Comparing to other kinds of robot, biped robot has the advantage of obstacle crossing based on its multiple linkages design. However, multiple linkages design which contains many degrees of freedom increases the difficulty of balance control during dynamic walking. To solve the problem of balance control, the gait design has become an important topic to the dynamic walking of biped robot. The main purpose of this study is to design a straight lagged walking control for biped robot based on forefoot mechanism. In this study, a biped robot which equipped a pair of forefoot mechanisms is designed by using Pro/ENGINEER 4.0. This robot contains 12 degrees of freedom. The robot control model is built by forward kinematic method. The zero moment point (ZMP) trajectory design is used as a main reference for robot dynamic walking, and also as a criterion of robot balance. Moreover, the joints angle of human gait is used to make a sub reference of robot straight lagged walking. The joints angle data can also decrease the calculation loading of robot inverse kinematic model. Finally, a straight lagged walking of biped robot can be implemented by using forefoot mechanism.
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Li, Chien-Yu, and 李建佑. "Control of an Underactuated Biped Robot for Dynamic Walking." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/60373271363922688958.
Full textAbstract:
碩士國立清華大學
動力機械工程學系
101
In this paper, the purpose is to establish a walking method for biped robot. By the zero dynamics with the simple underactuated system (Segway), we utilize the feature to design the walking strategy for biped robot. In the begin of this paper, we use the model of three-link robot, and add the sole in both feet, so there is an underactuated angle between the sole and the ground. By this way, we can make the biped robot walking more similar to nature human walking. After that, the full walking cycle was subdivided into five stages, including the humanoid motion like lift knee、heel landing、toes off the ground. At various stages has their own control objectives and control strategies, we utilize the ZMP (Zero Moment Point) feedback and trajectory planning to complete a walking cycle for biped robot. Finally, we use the simulation software to verify this walking strategy, and have preliminary completed a walking method for an underactuated biped robot.
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Lin, Guo-wei, and 林國暐. "Walking and Climbing of a Transversely Moving Hexapod Robot." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/11181251373113225811.
Full textAbstract:
碩士國立中山大學
機械與機電工程學系研究所
99
The purpose of this research is to imitate the motion of the crab, and to propose a new control strategy for hexapod robots. Referring to the proportion of a real crab, we construct a 12- actuator hexapod robot. Walking experiments are achieved by using a tripod gait, a metachronal gait and a paired metachronal gait. We observe the loading of actuators and compare the functionality of the gaits. A special feed-forward gait and the Zero Torque control strategy are added in the climbing experiment. A compressed rubber-wire carpet and wire dactyl claws are used to simulate the non-slip climbing condition. Our experiment results show that the loading condition of the pendulous tripod gait is better than conventional tripod gait, and the paired metachronal gait is better than metachronal gait. During climbing experiments, our robot walks on a vertical, an upside-down, and two transitional terrains.
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Yao, Lin-Te, and 林德耀. "Bionic Reflexes for Hexapod Robot Walking on Rough Terrain." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/05696999766943243949.
Full textAbstract:
碩士逢甲大學
自動控制工程所
96
This thesis describes the imitation of insect''s specific reflexes for hexapod robot, it can safely walk on the rough terrain. When insect walks and encounters obstacle, it can start reflexes to negotiate obstacle immediately. When mechanism is used for hexapod robot, it can be safe to get across cavity or ditch of the terrain. To implement this mechanism, robot must has a plantar touch system to observe the environment. Monitoring the change of the R/C servo current enable the robot to detect obstacles and loss of support, and then put the signal of current into the feedback control system of the robot, Local searching reflex will be incorporated with the controller for improving rough terrain locomotion.
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Yu, Shu-Wen, and 俞舒文. "Walking Pattern Analysis and Control of a Humanoid Robot." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/08348522497652691167.
Full textAbstract:
碩士國立臺灣大學
機械工程學研究所
94
This thesis aims at the mobility enhancement of a humanoid robot. Through co-simulation method implemented by using ADAMS/Controls and MATLAB/Simulink, we analyze the kinematics and dynamics of a humanoid robot. Moreover, the analysis of the walking factors on different environment and the walking pattern generation analog to human locomotion will be thoroughly discussed. In this thesis, we developed a simple method to generate the foot trajectory even in different environment. And a brief investigation of foot parameters is made. In order to achieve smooth walking pattern generation, the Zero-Moment Point (ZMP) trajectory planning is proposed in this thesis. With simulation results, we can tell the energy consumption decreases and the robot walks more stably with planning ZMP trajectory and suitable foot parameters. We also develop a correlation-based control (CBC) to realize on-line COG trajectory planning. The correlation-based control is designed by the correlation of those factors which can inference the walking stability. Moreover, the RWLS (Robust Weighted Least-Squares) is also developed for the reliable inverse kinematics solution. Finally, the simulation results display that our algorithms can efficiently enhance the stability of the humanoid robot.
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Wang, Keng-Liang, and 王耿良. "Development of Biped Walking Robot Adapting to Ramp Environment." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/29751878747829591848.
Full textAbstract:
碩士長庚大學
機械工程研究所
92
This paper presents the development of a biped robot, and the proposed biped robot is capable of walking on the flatly horizontal and ramp environments slowly. By introducing the in-lab design gravity and the foot pressure sensing components, the biped robot can adaptively walk on various ramp angles in a limited ranges. The biped robot system, named DCA-HUMANOID-I, consists of the ten degree of freedoms mechanical structure. The control modules include the robot gait planning and generating, trajectory planning, kinematics for generating the control angles with respect to the corresponding joints, and mechanical joint driving controller. To validate the functionality of the mechanical designs, the mechanical kinematics is simulated using the in-lab design and Microsoft Visual C++ based windows simulator. Note that the simulation program is also validated using the Matlab program. In addition, the control system is designed following the three-layer hierarchy. The supervisory control layer is implemented using the TI TMS320C31 DSP processor, and it is responsible for harmonizing the gait and motion trajectories, receiving the sensors signals that are generating from the logic control layer, and adjusting the gravity center according to the pressure and gravity sensor feedbacks. The second layer is the logic controller, and it is implemented using 89C51 single processor. The logic control layer is responsible for receiving the digitalized sensor signals such as the pressure and gravity sensors and transforming the format of the sensor signals according to the calculation requirements of the supervisory controller so that the loading the supervisory controller can be reduced. The last layer is the servo motion driven layer. Ten servo driven DC motors are specified to drive the robot as the desired posture. Finally, the proposed biped robot prototype had been finished, and the experiment tests had been done. The experiment results show that the robot can slowly walk on the flatly horizontal and ramp environment autonomously. Keywords: Biped walking robot, autonomous walking for ramp environment, DSP, gravity sensor, kinematics simulation