Bioinspired Control of Walking With Toe-Off, Heel-Strike, and Disturbance Rejection for a Biped Robot

Chen, Xuechao; Zheng, Yu; Ming, Aiguo

doi:10.1109/tie.2017.2698361

Cited by 50 publications

(30 citation statements)

References 22 publications

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“…19,20 For comparison, human has six DOF in each leg and six DOF in each arm besides other DOF of hands, waist, and feet. In BHR-6p, there are five DOF in each leg and two passive DOF in each arm which is determined by the simplification of proposed problem and is enough to validate the presented method.…”

Section: Experiments and Resultsmentioning

confidence: 99%

A minimized falling damage method for humanoid robots

Chen

Zhou

et al. 2017

International Journal of Advanced Robotic Systems

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In order to better adapt to human living environment for improving the ability of serving people on various occasions, humanoid robots need to prevent themselves from being severely damaged during falling backward. In this article, we have study the law of human falling motion with a motion capture system and propose a minimized falling damage method for humanoid robots. Falling backward is divided into two phases: the falling phase and the touchdown phase. The parametric optimal strategy based on inverted pendulum with flywheel is used to plan the motion of robot in the first phase to reduce the impact. In the second phase, to prevent the robot from bouncing and rolling over, the heuristic strategy including the best ratio of leg length inspired by biomechanical is adopted. The experiments have been tested on the BIT Humanoid Robot 6 prototype platform and the presented method has been validated.

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Section: Experiments and Resultsmentioning

confidence: 99%

A minimized falling damage method for humanoid robots

Chen

Zhou

et al. 2017

International Journal of Advanced Robotic Systems

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“…In general, from BHR-1 to BHR-5, the team focused on humanoid walking and manipulation (Chen et al, 2017;Jiang et al, 2018;Huang et al, 2018). The humanoid robots can walk, play the traditional martial arts (e.g.…”

Section: Introductionmentioning

confidence: 99%

Historical Developments of BHR Humanoid Robots

Huang

Yang

Liao

et al. 2019

AHS

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Humanoid robots can achieve increasingly complex functions and adapt to more complex environments. To boost the development of humanoid robot technology, a team at Beijing Institute of Technology initiated the research on humanoid robots from 2000. Their research primarily focuses on stable walking, whole-body complex motion, human-robot interaction, and multimodal motion of humanoid robots. Thus far, the team has developed 6 generations of humanoid robots. The latest humanoid robot, BHR-6P, can achieve multi-mode motions (for example, walk, jump, fall protection, crawl and roll), which will significantly improve the ability of robot to adapt to the environment. This paper presented the historical evolution of BHR humanoid robots and outlined their functions and features.

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“…Improvement of their locomotion abilities by addition of walking, crawling, climbing, fall protection, and jumping capabilities [1][2][3][4][5][6][7][8][9][10][11][12][13] is important to allow these robots to navigate across such adverse terrain. Unfortunately, most contemporary humanoid robots only have segmental functions.…”

Section: Introductionmentioning

confidence: 99%

“…Some robots are designed simply for walking or crawling [2,4,7], while others are designed for jumping alone [9,10]. The purpose of this paper is to add a jumping pattern to a versatile BHR6 robot, which is actuated using electric motors, and that already has walking, rolling, and fall protection capabilities [11][12][13].…”

Section: Introductionmentioning

confidence: 99%

Motion Planning for Bipedal Robot to Perform Jump Maneuver

Jiang

Chen

et al. 2018

Applied Sciences

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Abstract:The remarkable ability of humans to perform jump maneuvers greatly contributes to the improvements of the obstacle negotiation ability of humans. The paper proposes a jumping control scheme for a bipedal robot to perform a high jump. The half-body of the robot is modeled as three planar links and the motion during the launching phase is taken into account. A geometrically simple motion was first conducted through which the gear reduction ratio that matches the maximum motor output for high jumping was selected. Then, the following strategies to further exploit the motor output performance was examined: (1) to set the maximum torque of each joint as the baseline that is explicitly modeled as a piecewise linear function dependent on the joint angular velocity; (2) to exert it with a correction of the joint angular accelerations in order to satisfy some balancing criteria during the motion. The criteria include the location of ZMP (zero moment point) and the torque limit. Using the technique described above, the jumping pattern is pre-calculated to maximize the jump height. Finally, the effectiveness of the proposed method is evaluated through simulations. In the simulation, the bipedal robot model achieved a 0.477-m high jump.

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Bioinspired Control of Walking With Toe-Off, Heel-Strike, and Disturbance Rejection for a Biped Robot

Cited by 50 publications

References 22 publications

A minimized falling damage method for humanoid robots

A minimized falling damage method for humanoid robots

Historical Developments of BHR Humanoid Robots

Motion Planning for Bipedal Robot to Perform Jump Maneuver

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