A Fast Turning Method for Biped Robots With Foot Slip During Single-Support Phase

Yeon, Je Sung; Park, Jong Hyeon

doi:10.1109/tmech.2014.2316007

Cited by 20 publications

(9 citation statements)

References 24 publications

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“…Hera et al 20 introduced the use of holonomic constraints for a robotic actuator. Yeon and Park 21 gave an idea about foot slip mechanism for sudden turning and change in the direction of locomotion. Hasanpour et al 22 formulated kinematic solution for Darwin's humanoid robot.…”

Section: Introductionmentioning

confidence: 99%

Humanoid NAO: A Kinematic Encounter

Sahu

Parhi²,

Kumar³

et al. 2021

Robotica

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SUMMARY In the current research, kinematic analysis of a humanoid NAO is attempted. Here, both Denavit–Hartenberg (DH) parameter approach and multibody formulation approach have been analyzed. In the DH parameter approach, the NAO robot is solved by separating it into five individual kinematic chains. In the multibody formulation approach, NAO is divided into 15 segments, and each segment is analyzed. Kinematic analysis holds a significant importance; as from the data obtained in the kinematic analysis, the robots can be designed for real-time path planning and navigation. The current analysis is a novel approach to analyze the NAO based on its kinematic constraints.

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Section: Introductionmentioning

confidence: 99%

Humanoid NAO: A Kinematic Encounter

Sahu

Parhi²,

Kumar³

et al. 2021

Robotica

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“…This leg configuration becomes mainstream on current quadruped robots due to better bionics in geometric topology. In this case, the spinning locomotion can be only realized through the rolling of the spherical foot-ends on the ground ( Miura et al, 2013 ; Yeon and Park, 2014 ), which leads to the gait instability and CoM drift.…”

Section: Introductionmentioning

confidence: 99%

Terrain-Perception-Free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation

et al. 2021

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Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along the sagittal direction, such as slopes and stairs. To accomplish autonomous locomotion navigation in complex environments, spinning is a fundamental yet indispensable functionality for legged robots. However, spinning behaviors of quadruped robots on uneven terrain often exhibit position drifts. Motivated by this problem, this study presents an algorithmic method to enable accurate spinning motions over uneven terrain and constrain the spinning radius of the center of mass (CoM) to be bounded within a small range to minimize the drift risks. A modified spherical foot kinematics representation is proposed to improve the foot kinematic model and rolling dynamics of the quadruped during locomotion. A CoM planner is proposed to generate a stable spinning motion based on projected stability margins. Accurate motion tracking is accomplished with linear quadratic regulator (LQR) to bind the position drift during the spinning movement. Experiments are conducted on a small-scale quadruped robot and the effectiveness of the proposed method is verified on versatile terrains including flat ground, stairs, and slopes.

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“…Sahu et al [4,5] attempted using nature-inspired techniques in humanoid navigation. Yeon and Park [6] designed a footstep mechanism for abrupt turning and sudden change in the locomotion direction of biped robots. Asa et al [7] used bifurcation of potential function to discuss the transition between the dynamic behavior of biped and quadruped walking.…”

Section: Introductionmentioning

confidence: 99%

Intelligent Navigation of a Self-Fabricated Biped Robot using a Regression Controller

2018

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With the growing demand for using biped robots in industrial automation and other related applications, navigation and path planning has emerged as one of the most challenging research topics over the last few decades. In this paper, a novel navigational controller is designed and implemented in a self-fabricated biped robot. After fabricating biped robots equipped with a large set of sensors, a regression controller is implemented on them for the purposes of obstacle avoidance and path optimization. The obstacle distances detected by the biped's sensory network are fed as input parameters to the regression controller, and the output obtained from the controller is the necessary heading angle required to avoid the obstacles present randomly in the environment. The biped is tested in a simulated environment for obstacle avoidance and target-following behavior. Further, to validate the simulation results, a real-time experimental setup is designed under laboratory conditions. The results obtained from both environments are compared in terms of navigational parameters and, then, good agreement is observed between them. Being a relatively new area of research, the navigation of bipeds can pave the way towards industrial automation.

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A Fast Turning Method for Biped Robots With Foot Slip During Single-Support Phase

Cited by 20 publications

References 24 publications

Humanoid NAO: A Kinematic Encounter

Humanoid NAO: A Kinematic Encounter

Terrain-Perception-Free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation

Intelligent Navigation of a Self-Fabricated Biped Robot using a Regression Controller

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