Legged robots that balance
Biped Locomotion
Energy-Minimized Gait for a Biped Robot
Autonome Mobile Systeme 1995, 11. Fachgespräch
Asymptotically Stable Running for a Five-Link, Four-Actuator, Planar Bipedal Robot
International Journal of Robotics Research
A Parametric Optimization Approach to Walking Pattern Synthesis
International Journal of Robotics Research
Locomotion Control of a Biped Robot Using Nonlinear Oscillators
Autonomous Robots
Nearly optimal neural network stabilization of bipedal standing using genetic algorithm
Engineering Applications of Artificial Intelligence
A Novel Method of Gait Synthesis for Bipedal Fast Locomotion
Journal of Intelligent and Robotic Systems
Hopping on Even Ground and Up Stairs with a Single Articulated Leg
Journal of Intelligent and Robotic Systems
Real-Time Control of Full Actuated Biped Robot Based on Nonlinear Model Predictive Control
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Comparison of different gaits with rotation of the feet for a planar biped
Robotics and Autonomous Systems
Return maps, parameterization, and cycle-wise planning of yo-yo playing
IEEE Transactions on Robotics
A further result on the optimal harmonic gait for locomotion of mechanical rectifier systems
ACC'09 Proceedings of the 2009 conference on American Control Conference
Research on rapid walking of biped robot based on parametric surface table cart model
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Gait generation and control for biped robots with underactuation degree one
Automatica (Journal of IFAC)
Trajectory Planning of a One-Legged Robot Performing a Stable Hop
International Journal of Robotics Research
Constrained Analytical Trajectory Filter for stabilizing humanoid robot motions
Intelligent Service Robotics
Gait synthesis based on FWN and PD controller for a five-link biped robot
MICAI'05 Proceedings of the 4th Mexican international conference on Advances in Artificial Intelligence
Minimum jerk-based control for a three dimensional bipedal robot
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II
Predictive simulation of human walking transitions using an optimization formulation
Structural and Multidisciplinary Optimization
Modeling, stability and control of biped robots-a general framework
Automatica (Journal of IFAC)
Walking control for a planar biped robot using 0-flat normal form
Robotics and Autonomous Systems
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The objective of this study is to obtain optimal cyclic gaits for a biped robot without actuated ankles. Two types of motion are studied: walking and running. For walking, the gait is composed uniquely of successive single support phases and instantaneous double support phases that are modelled by passive impact equations. The legs swap their roles from one single support phase to the next one. For running, the gait is composed of stance phases and flight phases. A passive impact with the ground exists at the end of flight. During each phase the evolution of m joints variables is assumed to be polynomial functions, m is the number of actuators. The evolution of the other variables is deduced from the dynamic model of the biped. The coefficients of the polynomial functions are chosen to optimise criteria and to insure cyclic motion of the biped. The chosen criteria are: maximal advance velocity, minimal torque, and minimal energy. Furthermore, the optimal gait is defined with respect to given performances of actuators: The torques and velocities at the output of the gear box are bounded. For this study, the physical parameters of a prototype, which is under construction, are used. Optimal walking and running are defined. The running is more efficient for high velocities than the walking with respect to the studied criteria.