Article
Engineering, Mechanical
Masoumeh Safartoobi, Morteza Dardel, Hamidreza Mohammadi Daniali
Summary: This paper investigates a passive walking robot model with flexible legs, utilizes numerical techniques to find suitable initial conditions for gait cycles, and demonstrates that elastic legs result in non-periodic motion patterns for small slope angles.
MECHANISM AND MACHINE THEORY
(2021)
Article
Engineering, Electrical & Electronic
Aiwen Luo, Sandip Bhattacharya, Sunandan Dutta, Yoshihiro Ochi, Mitiko Miura-Mattausch, Jian Weng, Yicong Zhou, Hans J. Mattausch
Summary: The study aims to implement surface recognition through walking-pattern classification using a support vector machine (SVM) and time-domain feature descriptors. By extracting real-time dynamic force-sensing data streams and applying multiple binary SVM classifiers, the developed cost-efficient and accurate surface-recognition system is valuable for ensuring safe indoor locomotion for biped robots and enhancing their understanding of the human living environment.
IEEE SENSORS JOURNAL
(2021)
Article
Chemistry, Multidisciplinary
Long Li, Zhongqu Xie, Xiang Luo, Juanjuan Li
Summary: This study focused on the impact of gait pattern generation on the walking quality of biped robots, particularly comparing the energy efficiency of maintaining a vertical torso versus having torso pitch motion during walking. Results showed that torso pitch motion saves over 12% energy compared to maintaining a vertical torso, with the main energy-saving factor being the reduction of energy consumption of the swing knee in the double support phase.
APPLIED SCIENCES-BASEL
(2021)
Article
Engineering, Mechanical
Masoumeh Safartoobi, Morteza Dardel, Hamidreza Mohammadi Daniali
Summary: This paper presents the application of an internal damping mechanism to the mathematical description of the simplest passive walking model, making walking natural and efficient. By using viscoelastic legs and precise boundary conditions, the biped starts walking from a stable condition and exhibits stable period-one gait cycles. Numerical simulations demonstrate that the overall effect of viscoelastic legs on passive walking is efficient in terms of stability and energy dissipation.
NONLINEAR DYNAMICS
(2022)
Article
Robotics
Isabelle Maroger, Noelie Ramuzat, Olivier Stasse, Bruno Watier
Summary: By utilizing a prediction model of human behavior and a Walking Pattern Generator (WPG) based on optimal control, the robot is able to proactively walk in sync with humans instead of passively following them. These models have been tested in simulation and use real-time whole-body control to execute computed trajectories.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Automation & Control Systems
Arthicha Srisuchinnawong, Kitti Phongaksorn, Wasuthorn Ausrivong, Poramate Manoonpong
Summary: This work presents a novel adaptive bipedal robot and neural multimodal locomotion control for semiautonomous robotic out-pipe inspection. The robot can balance on curved surfaces, climb pipes with limited energy, overcome obstacles, and perform stable transitions between pipe segments. It achieves 100% successful locomotion on horizontal and vertical smooth pipes, with a speed of 10.24 cm/s and a cost of transport of 26.3 J/kgm, showing over 200% improvement in speed and energy efficiency compared to existing legged inspection robots.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Multidisciplinary Sciences
Yong Zhang, Hao Wang, Yi Ding, Beiping Hou
Summary: This paper proposes a CPG network control system using motor dynamics for the gait planning of a quadruped robot, which can achieve adaptive walking on different terrains.
Article
Robotics
J. Rogelio Guadarrama-Olvera, Shuuji Kajita, Gordon Cheng
Summary: This work introduces a novel method for enhancing ankle/foot compliance in biped humanoid robots walking on uneven terrain using distributed plantar proximity sensing. The proposed Preemptive Foot Compliance (PFC) control generates a Preemptive Ground Reaction Wrench to modify foot orientation and maximize contact area, thus reducing impact force. PFC can be easily integrated into walking controllers for flat ground, enabling robots to walk on uneven terrains. Experiment results show that both robots significantly improve their ability to walk on uneven terrain, with a reduction of approximately 80% in impact force during flat ground walking.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Chemistry, Analytical
Qing Han, Feixiang Cao, Peng Yi, Tiancheng Li
Summary: A central pattern generator (CPG) network model was designed to solve the motion control problem of gecko-like robots in complex environments, providing stable rhythm control signals for each joint using a sinusoidal function. The gecko-like robot successfully walked, crossed obstacles, and climbed steps in the vertical plane based on these stable rhythm control signals. Both simulations and experiments validated the feasibility of the proposed CPG motion control model.
Article
Mathematics
Ying Zhang, Guifang Qiao, Qi Wan, Lei Tian, Di Liu
Summary: A motion controller based on double-layered central pattern generator (CPG) is proposed to implement various movement controls of the hexapod robot in this paper. The CPG network consists of a rhythm layer and a pattern layer, with CPG neurons constructed based on Kuramoto nonlinear oscillator. Parameters for four typical gaits are planned, and the mapping relationship between CPG network signals and hexapod robot's joint trajectories is designed. Co-simulations and experiments verify the feasibility of the proposed CPG-based controller. The hexapod robot with the double-layered CPG-based controller demonstrates stable and various movements, with actual average velocities of the wave gait, tetrapod gait, tripod gait, and self-turning gait being 10.8 mm/s, 25.5 mm/s, 37.8 mm/s, and 26 degrees/s, respectively.
Article
Biotechnology & Applied Microbiology
Qiaoli Ji, Zhihui Qian, Lei Ren, Luquan Ren
Summary: This paper studied the influence of impulsive ankle push-off on the walking speed of a biped robot, showing that it can effectively increase the speed of the robot by accelerating the swing leg and reducing the fluctuation of the center of mass instantaneous speed.
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
(2021)
Article
Engineering, Multidisciplinary
Peng Sun, Yunfei Gu, Haoyu Mao, Zhao Chen, Yanbiao Li
Summary: A kinematics analysis was conducted on a new hybrid mechanical leg for bipedal robots, and the walking gait of the robot on flat ground was planned. The kinematics of the hybrid mechanical leg were analyzed and relevant models were established. The robot walking was divided into three stages using the inverted pendulum model for gait planning, and the trajectories of the robot centroid motion and swinging leg joints were calculated. The feasibility of the mechanism design and gait planning was verified through dynamic simulation of the robot's virtual prototype. This study provides a reference for the gait planning of hybrid mechanical legged bipedal robots and lays the foundation for further research on the robots involved in this thesis.
Article
Engineering, Multidisciplinary
Wafa Znegui, Hassene Gritli, Safya Belghith
Summary: This paper aims to develop an improved closed-form analytical expression for analyzing the complex walking behavior and stability of a passive-dynamics biped walker. By linearizing and approximating the hybrid dynamics, an enhanced closed-form expression of the Poincaré map and an analytical expression for the computation of step period are designed. A simplification of these expressions is achieved by decreasing dimension and providing a Jacobian matrix expression for investigating the stability of the designed simplified Poincaré map.
APPLIED MATHEMATICAL MODELLING
(2021)
Article
Engineering, Multidisciplinary
Zihan Xu, Qin Fang, Chengju Liu, Qijun Chen
Summary: A compliant-resistant balance-control method is proposed for biped robots to maintain balance under external forces, inspired by human behaviors. A model-free trajectory generator based on the central pattern generator (CPG) is designed to generate compliant-resistant human-like behavior. The control strategy can generate defined pulse signals to realize compliant-resistant balance control for biped robots. The proposed control strategy is verified in the NAO simulation environment.
Article
Neurosciences
Dinar N. Masaev, Alina A. Suleimanova, Nikita V. Prudnikov, Mariia V. Serenko, Andrey V. Emelyanov, Vyacheslav A. Demin, Igor A. Lavrov, Max O. Talanov, Victor V. Erokhin
Summary: Existing methods of neurorehabilitation lack adaptability and have poor biocompatibility and high power consumption. This study proposes the use of memristive devices, which provide complex synaptic functionality within a single element, for organizing electrical activity in walking patterns generated by the central pattern generator.
FRONTIERS IN NEUROSCIENCE
(2023)
