Resistant Compliance Control for Biped Robot Inspired by Humanlike Behavior

Huang, Qiang; Dong, Chencheng; Yu, Zhangguo; Chen, Xuechao; Li, Qingqing; Chen, Huanzhong; Liu, Huaxin

doi:10.1109/tmech.2021.3139332

Cited by 31 publications

(12 citation statements)

References 43 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Another typical example is a humanoid robot with a human-like appearance and function designed to mimic human mechanisms from outside-in. Representative studies include advanced step innovative mobility (ASIMO) (1997C) by Honda Motor [2] , BHR (2000C) by the Beijing Institute of Technology [3,4] , iCub (2008C) by the Italian Institute of Technology [5] , and Atlas (2016C) by Boston Dynamics [6] . These robots are normally endowed with bipedal locomotion and have a preliminary self-learning ability and adaptability to complex tasks by introducing an artificial intelligence algorithm.…”

Section: Introductionmentioning

confidence: 99%

Brain-inspired Intelligent Robotics: Theoretical Analysis and Systematic Application

Qiao

Zhong

et al. 2023

Mach. Intell. Res.

View full text Add to dashboard Cite

Traditional joint-link robots have been widely used in production lines because of their high precision for single tasks. With the development of the manufacturing and service industries, the requirement for the comprehensive performance of robotics is growing. Numerous types of bio-inspired robotics have been investigated to realize human-like motion control and manipulation. A study route from inner mechanisms to external structures is proposed to imitate humans and animals better. With this idea, a brain-inspired intelligent robotic system is constructed that contains visual cognition, decision-making, motion control, and musculoskeletal structures. This paper reviews cutting-edge research in brain-inspired visual cognition, decision-making, motion control, and musculoskeletal systems. Two software systems and a corresponding hardware system are established, aiming at the verification and applications of next-generation brain-inspired musculoskeletal robots.

show abstract

Section: Introductionmentioning

confidence: 99%

Brain-inspired Intelligent Robotics: Theoretical Analysis and Systematic Application

Qiao

Zhong

et al. 2023

Mach. Intell. Res.

View full text Add to dashboard Cite

show abstract

“…Legged robots are a research hotspot in the field of robotics and have achieved excellent performance in structural design and motion control [ 1 , 2 , 3 , 4 , 5 , 6 , 7 , 8 , 9 , 10 ]. The one-legged robot is a special kind of legged robot because it is the basis of legged robot research.…”

Section: Introductionmentioning

confidence: 99%

Controlling a One-Legged Robot to Clear Obstacles by Combining the SLIP Model with Air Trajectory Planning

Huang

Zhang

2023

Biomimetics

View full text Add to dashboard Cite

Legged animals can adapt to complex terrains because they can step or jump over obstacles. Their application of foot force is determined according to the estimation of the height of an obstacle; then, the trajectory of the legs is controlled to clear the obstacle. In this paper, we designed a three-DoF one-legged robot. A spring-loaded inverted pendulum model was employed to control the jumping. Herein, the jumping height was mapped to the foot force by mimicking the jumping control mechanisms of animals. The foot trajectory in the air was planned using the Bézier curve. Finally, the experiments of the one-legged robot jumping over multiple obstacles of different heights were implemented in the PyBullet simulation environment. The simulation results demonstrate the effectiveness of the method proposed in this paper.

show abstract

“…As the first step for humanoid robots to replace humans, it is necessary to ensure robust walking for humanoid robots, especially when walking on uneven terrain [ 1 ]. The research on bipedal robust walking of humanoid robots has become one of the most challenging research topics [ 2 ].…”

Section: Introductionmentioning

confidence: 99%

Robust Walking for Humanoid Robot Based on Divergent Component of Motion

Zhang

Shan

et al. 2022

Micromachines

View full text Add to dashboard Cite

In order to perform various complex tasks in place of humans, humanoid robots should walk robustly in the presence of interference. In the paper, an improved model predictive control (MPC) method based on the divergent components of motion (DCM) is proposed. Firstly, the humanoid robot model is simplified to a finite-sized foot-pendulum model. Then, the gait of the humanoid robot in the single-support phase (SSP) and double-support phase (DSP) is planned based on DCM. The center of mass (CoM) of the robot will converge to the DCM, which simplifies the feedback control process. Finally, an MPC controller incorporating an extended Kalman filter (EKF) is proposed to realize the tracking of the desired DCM trajectory. By adjusting the step duration, the controller can compensate for CoM trajectory errors caused by disturbances. Simulation results show that—compared with the traditional method—the method we propose achieves improvements in both disturbed walking and uneven-terrain walking.

show abstract

Resistant Compliance Control for Biped Robot Inspired by Humanlike Behavior

Cited by 31 publications

References 43 publications

Brain-inspired Intelligent Robotics: Theoretical Analysis and Systematic Application

Brain-inspired Intelligent Robotics: Theoretical Analysis and Systematic Application

Controlling a One-Legged Robot to Clear Obstacles by Combining the SLIP Model with Air Trajectory Planning

Robust Walking for Humanoid Robot Based on Divergent Component of Motion

Contact Info

Product

Resources

About