Optimization-based control for dynamic legged robots
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …
Six-legged walking robot (hexabot), kinematics, dynamics and motion optimization
SY Misyurin, GV Kreinin, NY Nosova… - Procedia Computer …, 2021 - Elsevier
The movement of a walking six–legged robot hexabot (a" spider" robot) with the possibility of
implementing various movements is considered. The equations of kinematics and dynamics …
implementing various movements is considered. The equations of kinematics and dynamics …
Humanoid gait generation in complex environments based on template models and optimality principles learned from human beings
In this paper, we present an inverse optimal control-based transfer of motions from human
experiments to humanoid robots and apply it to walking in constrained environments. To this …
experiments to humanoid robots and apply it to walking in constrained environments. To this …
Optimization of dynamic sit-to-stand trajectories to assess whole-body motion performance of the humanoid robot REEM-C
F Aller, M Harant, K Mombaur - Frontiers in Robotics and AI, 2022 - frontiersin.org
To enable the application of humanoid robots outside of laboratory environments, the biped
must meet certain requirements. These include, in particular, coping with dynamic motions …
must meet certain requirements. These include, in particular, coping with dynamic motions …
Turning gait planning method for humanoid robots
The most important feature of this paper is to transform the complex motion of robot turning
into a simple translational motion, thus simplifying the dynamic model. Compared with the …
into a simple translational motion, thus simplifying the dynamic model. Compared with the …
Modeling Running via Optimal Control for Shoe Design
Shoe manufacturing technology is advancing faster than new shoe designs can viably be
evaluated in human subject trials. To aid in the design process, this paper presents a model …
evaluated in human subject trials. To aid in the design process, this paper presents a model …
Special feature on bio-inspired robotics
Modern robotic technologies have enabled robots to operate in a variety of unstructured and
dynamically-changing environments, in addition to traditional structured environments …
dynamically-changing environments, in addition to traditional structured environments …
Real-time FPGA-based balance control method for a humanoid robot pushed by external forces
CC Liu, TT Lee, SR Xiao, YC Lin, YY Lin, CC Wong - Applied Sciences, 2020 - mdpi.com
In this paper, a real-time balance control method is designed and implemented on a field-
programmable gate array (FPGA) chip for a small-sized humanoid robot. In the proposed …
programmable gate array (FPGA) chip for a small-sized humanoid robot. In the proposed …
Walking Algorithm Using Gait Analysis for Humanoid Robot
People have been fascinated with humanoid robots for over two decades. They are
expected to assist and collaborate with humans in the future. However, due to the limitations …
expected to assist and collaborate with humans in the future. However, due to the limitations …
Kinematics and dynamics of the spider-robot mechanism, motion optimization
SY Misyurin, GV Kreinin, NY Nosova… - Biologically Inspired …, 2020 - Springer
In this paper, we consider the kinematics and dynamics of a spider robot mechanism with 18
degrees of freedom (six legs). The equations of kinematics and dynamics are written out; …
degrees of freedom (six legs). The equations of kinematics and dynamics are written out; …