An anthropomorphic biped robot: dynamic concepts and technological design

Sardain, Philippe; Rostami, Mostafa; Bessonnet, Guy

doi:10.1109/3468.725353

Cited by 72 publications

(50 citation statements)

References 16 publications

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“…1(a)], the elementary contact force can be split up into two components, a normal component , which is the local pressure force, and a tangential component which is the local frictional force (1) with being the unit vector normal to the sole , oriented toward the foot, outwards from the support surface. Consequently, the resultant of these elementary contact forces appears as the sum, on the one hand, of the local pressure forces (2) whose moment about any point is (3) and, on the other hand, of the local friction forces (4) whose moment about is (5) with the superscripts and denoting pressure and friction components, respectively.…”

Section: A Definitionsmentioning

confidence: 99%

See 1 more Smart Citation

Forces Acting on a Biped Robot. Center of Pressure—Zero Moment Point

Sardain

Bessonnet

2004

IEEE Trans. Syst., Man, Cybern. A

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395

132

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Abstract-In the area of biped robot research, much progress has been made in the past few years. However, some difficulties remain to be dealt with, particularly about the implementation of fast and dynamic walking gaits, in other words anthropomorphic gaits, especially on uneven terrain. In this perspective, both concepts of center of pressure (CoP) and zero moment point (ZMP) are obviously useful. In this paper, the two concepts are strictly defined, the CoP with respect to ground-feet contact forces, the ZMP with respect to gravity plus inertia forces. Then, the coincidence of CoP and ZMP is proven, and related control aspects are examined. Finally, a virtual CoP-ZMP is defined, allowing us to extend the concept when walking on uneven terrain. This paper is a theoretical study. Experimental results are presented in a companion paper, analyzing the evolution of the ground contact forces obtained from a human walker wearing robot feet as shoes.Index Terms-Biped robot, center of pressure (CoP), mechanical feet, uneven terrain, walking, zero moment point (ZMP).

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Section: A Definitionsmentioning

confidence: 99%

“…The goals and initial results of the project are reported in [1] and [2] and the implementation of the postural motions and static walks achieved until now are described in [3]. The current research is directed toward the generation of anthropomorphic trajectories, and toward efficient ways for the biped robot to control them.…”

Section: Introductionmentioning

confidence: 99%

Forces Acting on a Biped Robot. Center of Pressure—Zero Moment Point

Sardain

Bessonnet

2004

IEEE Trans. Syst., Man, Cybern. A

Self Cite

395

132

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“…Bipedal walking robotics has gained much attention in recent years. Many bipedal walking mechanisms, gait pattern generation schemes and control laws have been reported in the literature [1][2][3][4][5]. Numerous studies have attempted to work out strategies for the stability, system modelling and dynamics analysis of bipedal walking.…”

Section: Introductionmentioning

confidence: 99%

A Novel Sensory Mapping Design for Bipedal Walking on a Sloped Surface

Huang

Hsieh

et al. 2012

International Journal of Advanced Robotic Systems

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This paper presents an environment recognition method for bipedal robots using a time-delay neural network. For a robot to walk in a varying terrain, it is desirable that the robot can adapt to any environment encountered in real-time. This paper aims to develop a sensory mapping unit to recognize environment types from the input sensory data based on an artificial neural network approach. With the proposed sensory mapping design, a bipedal walking robot can obtain real-time environment information and select an appropriate walking pattern accordingly. Due to the time-dependent property of sensory data, the sensory mapping is realized by using a time-delay neural network. The sensory data of earlier time sequences combined with current sensory data are sent to the neural network. The proposed method has been implemented on the humanoid robot NAO for verification. Several interesting experiments were carried out to verify the effectiveness of the sensory mapping design. The mapping design is validated for the uphill, downhill and flat surface cases, where three types of environment can be recognized by the NAO robot online.

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“…In [15], the energy consumption is addressed by means of a special joint and drive mechanism. The use of cables, screw-nut systems, gears and springs have been also widely considered; see for instance [16], [17], [18] and [19].…”

Section: Introductionmentioning

confidence: 99%

Design and Real-Time Control of a 4-DOF Biped Robot

Vázquez

Velasco-Villa

2013

International Journal of Advanced Robotic Systems

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This work is focused on the design, construction and model based control of a biped robot during the walking cycle on the sagittal plane. For the analysis, the single support phase is considered to be the dominating dynamics, by assuming an instantaneous double support phase which is only described by the impact phenomenon. The joint tracking problem is analyzed by means of a model based control strategy, which incorporates a reformulation of the Coriolis matrix that allows the cancellation of non antisymmetric terms in order to formally proof the asymptotic stability of the coordinate error system representation in a local sense. Some experiments are carried out for a pre-defined reference trajectory for the walking cycle of a 4-DOF biped robot.

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An anthropomorphic biped robot: dynamic concepts and technological design

Cited by 72 publications

References 16 publications

Forces Acting on a Biped Robot. Center of Pressure—Zero Moment Point

Forces Acting on a Biped Robot. Center of Pressure—Zero Moment Point

A Novel Sensory Mapping Design for Bipedal Walking on a Sloped Surface

Design and Real-Time Control of a 4-DOF Biped Robot

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