Dynamic complementarity conditions and whole-body trajectory optimization for humanoid robot locomotion
This article presents a planner to generate walking trajectories by using the centroidal
dynamics and the full kinematics of a humanoid robot. The interaction between the robot and …
dynamics and the full kinematics of a humanoid robot. The interaction between the robot and …
Sequential sensor fusion-based real-time LSTM gait pattern controller for biped robot
This study proposes a real-time sequential sensor fusion based gait pattern controller.
During the walking cycle, the sensor data is analyzed and obtained by several inertial …
During the walking cycle, the sensor data is analyzed and obtained by several inertial …
Capture steps: Robust walking for humanoid robots
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of
being versatile helpers in our everyday environments. Bipedal walking is, however, a …
being versatile helpers in our everyday environments. Bipedal walking is, however, a …
A control architecture with online predictive planning for position and torque controlled walking of humanoid robots
A common approach to the generation of walking patterns for humanoid robots consists in
adopting a layered control architecture. This paper proposes an architecture composed of …
adopting a layered control architecture. This paper proposes an architecture composed of …
Gradient-driven online learning of bipedal push recovery
Bipedal walking is a complex and dynamic whole-body motion with balance constraints.
Due to the inherently unstable inverted pendulum-like dynamics of walking, the design of …
Due to the inherently unstable inverted pendulum-like dynamics of walking, the design of …
RoboCup 2016 Humanoid TeenSize winner NimbRo: Robust visual perception and soccer behaviors
The trend in the RoboCup Humanoid League rules over the past few years has been
towards a more realistic and challenging game environment. Elementary skills such as …
towards a more realistic and challenging game environment. Elementary skills such as …
Online learning of foot placement for balanced bipedal walking
Due to the high complexity of the humanoid body, and its inherently unstable inverted
pendulum-like dynamics, the development of a robust and versatile walking controller …
pendulum-like dynamics, the development of a robust and versatile walking controller …
A closed-loop gait for humanoid robots combining LIPM with parameter optimization
A Seekircher, U Visser - RoboCup 2016: Robot World Cup XX 20, 2017 - Springer
Even with the recent advances in the area of dynamic walking on humanoid robots there is
still a significant amount of manual calibration required in practice due to the variances in …
still a significant amount of manual calibration required in practice due to the variances in …
Humanoid robot pitch axis stabilization using linear quadratic regulator with fuzzy logic and capture point
BP Putra, GS Mahardika, M Faris… - arXiv preprint arXiv …, 2020 - arxiv.org
This paper aims for a controller that can stabilize a position-controlled humanoid robot when
standing still or walking on synthetic grass even when subjected to external disturbances …
standing still or walking on synthetic grass even when subjected to external disturbances …
Online learning of bipedal walking stabilization
Bipedal walking is a complex whole-body motion with inherently unstable dynamics that
makes the design of a robust controller particularly challenging. While a walk controller …
makes the design of a robust controller particularly challenging. While a walk controller …