A brief review of dynamics and control of underactuated biped robots

S Gupta, A Kumar - Advanced Robotics, 2017 - Taylor & Francis
Humans as bipeds enjoy certain advantages over other terrestrial systems, which motivate
us to study and develop biped robots. Underactuated biped robots adopt the energy efficient …

A review of gait optimization based on evolutionary computation

D Gong, J Yan, G Zuo - Applied computational intelligence and …, 2010 - Wiley Online Library
Gait generation is very important as it directly affects the quality of locomotion of legged
robots. As this is an optimization problem with constraints, it readily lends itself to …

Walking trajectory planning on stairs using virtual slope for biped robots

T Sato, S Sakaino, E Ohashi… - IEEE transactions on …, 2010 - ieeexplore.ieee.org
In this paper, a “virtual slope method” for walking trajectory planning on stairs for biped
robots is proposed. In conventional methods for walking on stairs, there are two problems …

Adaptive gait generation for humanoid robot using evolutionary neural model optimized with modified differential evolution technique

TT Huan, C Van Kien, HPH Anh, NT Nam - Neurocomputing, 2018 - Elsevier
Gait generation plays a decisive role to the performance of biped robot walking. Under
mathematical viewpoint, the task of gait generation design is investigated as an optimization …

Gait planning of omnidirectional walk on inclined ground for biped robots

Z Yu, X Chen, Q Huang, W Zhang… - … on Systems, Man …, 2015 - ieeexplore.ieee.org
When a biped robot moves about in a physical environment, it may encounter inclined
ground. Biped walking on inclined ground still remains challenging for biped robots …

Soft computing-based gait planners for a dynamically balanced biped robot negotiating sloping surfaces

PR Vundavilli, DK Pratihar - Applied soft computing, 2009 - Elsevier
Dynamically balanced gait generation problems of a biped robot moving up and down the
sloping surface have been solved utilizing soft computing-based approaches. The gait …

Analysis and Optimization of Gait Cycle of 25-DOF NAO Robot Using Particle Swarm Optimization and Genetic Algorithms.

P Gupta, DK Pratihar, K Deb - International Journal of …, 2024 - search.ebscohost.com
The gait cycle of 25-degree of freedom (DOF) humanoid robot, namely NAO robot, consists
of single support phase (SSP) and double support phase (DSP). Both dynamic and stability …

Balanced gait generations of a two-legged robot on sloping surface

PR Vundavilli, DK Pratihar - Sadhana, 2011 - Springer
In this paper, dynamically balanced gait generation problem of a 7-DOF two-legged robot
moving up and down through the sloping surface is presented. The gait of the lower links …

Using reinforcement learning to improve the stability of a humanoid robot: Walking on sloped terrain

IJ Silva, DH Perico, TPD Homem… - 2015 12th Latin …, 2015 - ieeexplore.ieee.org
In order to perform a walk on a real environment, humanoid robots need to adapt
themselves to the environment, as humans do. One approach to achieve this goal is to use …

An open loop walking on different slopes for NAO humanoid robot

A Massah, A Sharifi, Y Salehinia, F Najafi - Procedia Engineering, 2012 - Elsevier
Dynamic gait planning for humanoid robots encounters difficulties such as stability, speed,
and smoothness. In most of previous studies, joints' trajectories are calculated in 3D …