Real time gait generation for autonomous humanoid robots: A case study for walking

Capi, Genci; Nasu, Yasuo; Barolli, Leonard; Mitobe, Kazuhisa

doi:10.1016/s0921-8890(02)00351-2

Cited by 51 publications

(21 citation statements)

References 8 publications

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“…Vukboratovic first analyzed the torque required to achieve the joint movements from the energy point of view [65]. Capi generates the walking gait of the biped robot Bonten-Maru for the optimization target with the lowest energy and the minimum variation in joint torque [66]. The energy optimization method can fully develop the performance of bipedal robots and reduce the system requirements.…”

Section: Gait Planning Based On Energy Consumption Optimizationmentioning

confidence: 99%

State of the Art: Bipedal Robots for Lower Limb Rehabilitation

Yang

She

et al. 2017

Applied Sciences

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Abstract:The bipedal robot is one of the most attractive robots types given its similarity to the locomotion of human beings and its ability to assist people to walk during rehabilitation. This review summarizes the chronological historical development of bipedal robots and introduces some current popular bipedal robots age. Then, the basic theory-stability control and key technology-motion planning of bipedal robots are introduced and analyzed. Bipedal robots have a wide range of applications in the service, education, entertainment, and other industries. After that, we specifically discuss the applications of bipedal robots in lower limb rehabilitation, including wearable exoskeleton robots, rehabilitation equipment, soft exoskeleton robots, and unpowered exoskeleton robots, and their control methods. Lastly, the future development and the challenges in this field are discussed.

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Section: Gait Planning Based On Energy Consumption Optimizationmentioning

confidence: 99%

State of the Art: Bipedal Robots for Lower Limb Rehabilitation

Yang

She

et al. 2017

Applied Sciences

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“…Meanwhile, the methods to realizing dynamic walking were presented in (Hasegawa et al, 2000, Lim et al, 2000. Other achievements are in prototyping biped locomotion, biped legged control and optimal gait locomotion (Goswani et al, 1997, Capi et al, 2003. Input energy is another important index for natural walking motion.…”

Section: Background and Motivationmentioning

confidence: 99%

“…Recently, an evolutionary optimization method, such as evolutionary programming (EP), genetic algorithm (GA) and so on have been identified to find the optimal solutions in a non-linear system. In the research with Bonten-Maru II, Capi (Capi et al, 2003, Nasu et al, 2007 has proposed a real time generation of humanoid robot optimal gait by using soft computing techniques. GA was employed to minimize the energy for humanoid robot gait.…”

Section: Background and Motivationmentioning

confidence: 99%

Optimal Gait Generation in Biped Locomotion of Humanoid Robot to Improve Walking Speed

Yussof¹,

Yamano²,

Nasu³

et al. 2011

Biped Robots

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“…The core point of this control strategy was to constantly change gait and trajectory according to different environments and tasks as well as stability state of robot. A control simulation platform was established to obtain the optimal controller parameters, and all the proposed methods were finally verified through simulations and experiments [17,18] . Some researchers [19][20][21] studied and implemented a real-time robust balance control for a humanoid robot under environment disturbance, the robot with robust control can resist an external thrust, stand on a two-axis inclinable platform, or walk on a see-saw successfully.…”

Section: Introductionmentioning

confidence: 99%

Development of agricultural bionic mechanisms: investigation of the effect of joint angle and pressure on the stability of goats moving on sloping lands

Zhang

Li-min

Wang

et al. 2018

International Journal of Agricultural and Biological Engineering

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Abstract:The use of small-scale agricultural machinery becomes prevalent as it provides the stability of agricultural machinery research ideas. To lay the theoretical foundation for the research and design of agriculture walking mechanism, the Phantom Camera Control software was used to measure the anterior and posterior joint angle of a goat walking on different slopes. Foot pressure was measured by the film pressure sensor. The result of joint motion sequence, range of motion, and change of range showed that the fitting degree of the measured value was accurate. As the goat walking speed increased, the level of the hind limb angle changed to ensure itself stability. When the goat is walking, the forelimbs bear more weight than the hind limbs due to the different static and physiological structures of the front and rear legs. The key parameters of gait on different slopes were analyzed. The curve of angle change of legs was measured and analyzed when the goat is walking in slope. The results showed that, with the increase of the slope gradient, the anterior hip angle ranges from 83.3° to 117.1°, the posterior hip angle ranges at 120.3°-173.1°, the left knee angle ranges from 91.3° to 170.1°, the right knee angle is roughly the same as its range of variation. When the slope increased, the pressure change of left hind foot was consistent with that of the right anterior foot, and the pressure change of right hind foot was consistent with that of the left anterior foot. This demonstrated the theory of diagonal gait. Meanwhile, with the change of the slope, the plantar pressure of the limbs changes periodically. The research results verified the rationality of the four-legged bionic mechanism under various parameters, which can provide a theoretical basis for the design of agricultural walking mechanism to adapt different slopes in the hilly and mountainous areas.

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Real time gait generation for autonomous humanoid robots: A case study for walking

Cited by 51 publications

References 8 publications

State of the Art: Bipedal Robots for Lower Limb Rehabilitation

State of the Art: Bipedal Robots for Lower Limb Rehabilitation

Optimal Gait Generation in Biped Locomotion of Humanoid Robot to Improve Walking Speed

Development of agricultural bionic mechanisms: investigation of the effect of joint angle and pressure on the stability of goats moving on sloping lands

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