A neuro-dynamic walking engine for humanoid robots

Atmeh, Ghassan M.; Subbarao, Kamesh

doi:10.1016/j.robot.2018.09.003

Cited by 7 publications

(5 citation statements)

References 24 publications

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Section: Cog and Zmp Calculationsmentioning

confidence: 99%

“…Because no torque is generated in parallel with the foot plane according to the definition of the ZMP [10], the position of the ZMP based on the reaction on the sensor created by the force and moment at the ZMP is calculated using Equations ( 15) and (16). Because no torque is generated in parallel with the foot plane according to the definition of the ZMP [10], the position of the ZMP based on the reaction on the sensor created by the force and moment at the ZMP is calculated using Equations ( 15) and (16).…”

Section: Cog and Zmp Calculationsmentioning

confidence: 99%

“…In the second step, inverse kinematics calculations are performed so that the robot can follow these trajectories. When the foot and pelvis positions are known, joint angles can be calculated using the inverse kinematics method, either analytically or numerically [12][13][14][15][16][17].…”

Section: Introductionmentioning

confidence: 99%

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Precise Calculation of Inverse Kinematics of the Center of Gravity for Bipedal Walking Robots

Şanlıtürk,

Kocabaş

2024

Applied Sciences

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The walking of humanoid robots is dependent on the precise tracking of their center of gravity and foot trajectories. Trajectory tracking is achieved by mobilizing their joints to achieve the correct trajectory. Errors occur because of assumptions on tracking the center of gravity and the foot trajectories. In this study, a numerical algorithm was developed that produces an exact and single kinematic solution in which the center of gravity and foot trajectories can be tracked with the desired precision. The effectiveness of this algorithm was examined with a dynamic simulation and compared with a method given in the literature. The main highlight of this study, using the presented algorithm, is that the robot could walk even if the position of its center of gravity was lower than its hips, resulting in a tracking error that was smaller than that reported in the literature.

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Section: Cog and Zmp Calculationsmentioning

confidence: 99%

Section: Cog and Zmp Calculationsmentioning

confidence: 99%

See 1 more Smart Citation

Precise Calculation of Inverse Kinematics of the Center of Gravity for Bipedal Walking Robots

Şanlıtürk,

Kocabaş

2024

Applied Sciences

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show abstract

“…When the foot and pelvis positions are known, joint angles can be calculated using the inverse kinematics method. Analytical or numerical approaches can be used for these calculations [12][13][14][15][16][17].…”

Section: Introductionmentioning

confidence: 99%

Precise Inverse Kinematic Calculation of the Center of Gravity for Bipedal Walking Robots

Şanlıtürk,

Kocabaş

2024

Preprint

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Walking of humanoid robots is dependent on precise tracking of the center of gravity and foot trajectories. Trajectory tracking is achieved by mobilizing the robot joints to produce the correct trajectory. Errors are being occurred because of assumptions on tracking the center of gravity and the foot trajectories. In this study, a numerical algorithm has been developed that produces an exact and single kinematic solution in which the center of gravity and foot trajectories can be tracked with the desired precision. The effectiveness of the algorithm was examined with a dynamic simulation and compared with the method given in the literature The main highlight of this study, using the presented algorithm, the robot can walk even if the position of its center of gravity is lower than its hips, resulting tracking error was smaller than reported in the literature.

show abstract

“…Many organizations and institutes have designed expensive humanoid robots for specific tasks. NASA designed Robonaut 2 [50], other institutes presented HRP-4 [51], Romeo [52], Kenshiro [53], Surena III [54], Atlas [55], Talos [56], and DRC-Hubo [57]. The detailed information of these advanced robots is shown in supplementary file in Fig.…”

Section: Introductionmentioning

confidence: 99%

A wearable sensor vest for social humanoid robots with GPGPU, IoT, and modular software architecture

Jafarzadeh

Brooks

et al. 2021

Robotics and Autonomous Systems

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A neuro-dynamic walking engine for humanoid robots

Cited by 7 publications

References 24 publications

Precise Calculation of Inverse Kinematics of the Center of Gravity for Bipedal Walking Robots

Precise Calculation of Inverse Kinematics of the Center of Gravity for Bipedal Walking Robots

Precise Inverse Kinematic Calculation of the Center of Gravity for Bipedal Walking Robots

A wearable sensor vest for social humanoid robots with GPGPU, IoT, and modular software architecture

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