Article
Chemistry, Analytical
Long Li, Zhongqu Xie, Xiang Luo, Juanjuan Li
Summary: This study introduces a linear pendulum model (LPM) for the double support phase (DSP) to address the walking stability issue caused by the neglect of DSP in the LIPM model. Additionally, various trajectory-planning methods for different scenarios are proposed to allow the biped robot to maintain stability while planning trajectories in real time.
Article
Engineering, Multidisciplinary
Koray K. Safak, Turgut Batuhan Baturalp, Selim Bozkurt
Summary: This study proposes a design approach and develops a low-power planar biped robot named YU-Bibot. The robot's kinematic structure consists of six independently driven axes with a low power-to-weight ratio of 30 W/kg. It mimics the natural human walking gait and features spring-supported knee and ankle joints.
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
Automation & Control Systems
Qiang Huang, Chencheng Dong, Zhangguo Yu, Xuechao Chen, Qingqing Li, Huanzhong Chen, Huaxin Liu
Summary: Compliance control is crucial for disturbance absorption in biped robots, but it can cause balance deterioration due to the robot's floating base nature. To address this issue, we propose a strategy called resistant compliance, inspired by how humans resist external disturbance by reconciling their posture and pushing back. This strategy allows the robot to initially comply with the disturbance and then repel it to reduce imbalance caused by motion adjustments, resulting in improved stability and human-like reactions in locomotion and interactions.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Automation & Control Systems
Qiang Huang, Chencheng Dong, Zhangguo Yu, Xuechao Chen, Qingqing Li, Huanzhong Chen, Huaxin Liu
Summary: Compliance control is crucial for biped robots to maintain balance under disturbance, and the proposed resistant compliance strategy allows robots to react more like typical humans, improving environmental stability and safety.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Automation & Control Systems
Sicheng Xie, Xinyu Li, Liang Gao, Ling Fu, Li Jing, Weifeng Xu
Summary: This study proposes an online whole-stage gait planning method to enhance the bipedal walking performance. A new template model called Variable Spring-Loaded Inverted Pendulum with Finite-sized Foot (VSLIP-FF) model is applied, considering the role of ankles. A Finite State Machine (FSM)-based gait pattern with corresponding bio-inspired gait strategies is established. Furthermore, an online gait generator based on a neural network is applied for real-time gait planning. Experimental results demonstrate the effectiveness of the proposed method.
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, Multidisciplinary
Yingli Shu, Quande Yuan, Jian Zhang, Huazhong Li, Yuzhen Pi, Wen-de Ke
Summary: This article investigates the periodic walking of a biped robot, aiming to quickly plan the gait while maintaining robot stability by selecting key postures. The ankle trajectory of the swinging leg is constructed using a designed and solved spline curve based on known information. Simulation results demonstrate the feasibility of the method.
INTERNATIONAL JOURNAL OF COMPUTING SCIENCE AND MATHEMATICS
(2023)
Article
Chemistry, Multidisciplinary
Liang Yang, Guanyu Lai, Yong Chen, Zhihui Guo
Summary: This paper proposes a new online walking controller for biped robots, which integrates a neural-network estimator and an incremental learning mechanism to improve control performance in dynamic environment. An interval type-2 fuzzy weight identifier is developed to address the imbalanced distribution problem of training data. The effectiveness of the control scheme is verified through full-dynamics simulation and practical robot experiment.
APPLIED SCIENCES-BASEL
(2021)
Article
Engineering, Chemical
Zhuang-Zhuang Xin, Jia-Jun Wang
Summary: X-Z IP is a complex nonlinear system that is difficult to control using traditional linear control theories. The underactuated nature of the pendulum adds complexity to control design.
Article
Thermodynamics
Jinming Wu, Chen Qian, Siming Zheng, Ni Chen, Dan Xia, Malin Goteman
Summary: This study examines a wave energy converter (WEC) that utilizes an internal inverted pendulum to provide reaction forces for power absorption. Compared to a normal pendulum, this converter has a naturally high internal mass, giving it potential advantages. Optimal structural configurations of the converter are determined using a genetic algorithm, and the equations of motion are solved using a linearized model that is validated through experiments and a non-linearized model. The results show that the inverted pendulum WEC offers several advantages over a normal pendulum WEC in most sea states.
Article
Engineering, Mechanical
Sunil Gora, Shakti S. Gupta, Ashish Dutta
Summary: In this work, the motion of a nonlinear inverted pendulum (NIP) on deformable terrain due to foot contact forces is analyzed for energy and footstep placement. The mass moment of inertia and terrain deformation are taken into consideration in the model. The system's energy analysis provides foot placement regions and terrain stiffness limits for walking on uneven deformable terrain.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2023)
Review
Robotics
Moh Shahid Khan, Ravi Kumar Mandava
Summary: This review article discusses the challenges in biped gait generation and controller design on various terrains, and provides a comprehensive compilation of research work in this area. The authors found that no single study has examined the gait generation and controller design for each joint of biped robots on different terrains. The review aims to help researchers better understand the concepts of gait generation and controller design while moving on various terrains.
Article
Construction & Building Technology
Stana Zivanovic, Bintian Lin, Hiep Vu Dang, Sigong Zhang, Mladen Cosic, Colin Caprani, Qingwen Zhang
Summary: This paper critically evaluates the performance of two bipedal models with rigid legs in reproducing key features of an individual pedestrian's walking gait and representing a wide range of individuals. The results show that these models are less successful in reproducing genuine kinetic and kinematics profiles.
Article
Engineering, Multidisciplinary
Boyang Chen, Xizhe Zang, Yue Zhang, Liang Gao, Yanhe Zhu, Jie Zhao
Summary: This paper proposes a multi-modal biped gait planner based on DIRCON for generating different gaits on multiple non-flat terrains. Virtual knot and slacked complementary constraints are used for trajectory optimization in gait planning. Experimental results demonstrate the stability of the planned gaits on non-flat terrains.