Biological Cybernetics - Special Issue: Dynamic Principles
Design and Analysis of Experiments
Design and Analysis of Experiments
Walking Control Algorithm of Biped Humanoid Robot on Uneven and Inclined Floor
Journal of Intelligent and Robotic Systems
Robotics and Computer-Integrated Manufacturing
Foot and body control of biped robots to walk on irregularly protruded uneven surfaces
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on human computing
Prediction of compressive strength of heavyweight concrete by ANN and FL models
Neural Computing and Applications
Design and Dynamic Modeling of Humanoid Biped Robot e-Robot
CERMA '11 Proceedings of the 2011 IEEE Electronics, Robotics and Automotive Mechanics Conference
Robotics and Autonomous Systems
A bio-inspired approach for online trajectory generation of industrial robots
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
New automated learning CPG for rhythmic patterns
Intelligent Service Robotics
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This paper proposes a novel method for real-time trajectory generation of a seven-link planar biped robot. Individual joint trajectories are generated by specifying only two key parameters, walking speed and step length. The proposed method combines several methods and concepts including kinematics, dynamics, trajectory generation, experimental design, Takagi-Suguno fuzzy systems, central pattern generator (CPG), ZMP criterion and a dynamic balance method. A fuzzy relationship between walking and CPG parameters is learned using experimental design methodology and T-S fuzzy systems. A method based on the Fourier series is used to tune parameters of the CPG. The proposed method allows making online changes to step length and walking speed while ensuring robot's dynamic balance. A multibody simulation package is selected and the effectiveness of the method is illustrated using several examples. It is also shown that changes in joint angles, as the result of online changes to the walking parameters, occur in a smooth and continuous manner.