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COM trajectory planning and disturbance-resistant control of a bipedal robot based on CP-ZMP-COM dynamics 认领 引用 被引量：3
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作者 Chunbiao GAN Zijing LI +1 位作者 Yimin GE Mengyue LU 《Journal of Zhejiang University-SCIENCE A》 SCIE EI CAS CSCD 2025年第5期492-498,共7页
1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki ... 1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki et al.,2010;Englsberger et al.,2015;Xie et al.,2020).With regard to model-based gait-generation methods for uphill and downhill terrain,Kuo(2007)simulated human gait using an inverted pendulum,which provided a circular trajectory for the COM rather than a horizontal trajectory.He found that a horizontal COM trajectory consumed more muscle energy.Massah et al.(2012)utilized a 3D LIPM and the concept of zero moment point(ZMP).They developed a trajectory planner using the semi-elliptical motion equations of an NAO humanoid robot and simulated walking on various sloped terrains using the Webots platform. 展开更多
关键词 com trajectory planning inverted pendulumwhich disturbance resistant control linear inverted pendulum model lipm extended forms owaki bipedal robots human gait dynamics center
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Adaptive feedback compensation control method for bipedal robot walking under continuous external disturbances 认领 引用 被引量：3
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作者 Zijing Li Jinlin Zhang +5 位作者 Mengyue Lu Wanchao Chi Chong Zhang Shenghao Zhang Yuzhen Liu Chunbiao Gan 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2024年第12期29-39,共11页
In the past few decades,people have been trying to address the issue of walking instability in bipedal robots in uncertain environments.However,most control methods currently have still failed to achieve robust walkin... In the past few decades,people have been trying to address the issue of walking instability in bipedal robots in uncertain environments.However,most control methods currently have still failed to achieve robust walking of bipedal robots under uncertain disturbances.Existing research mostly focuses on motion control methods for robots on uneven terrain and under sudden impact forces,with little consideration for the problem of continuous and intense external force disturbances in uncertain environments.In response to this issue,a disturbance-robust control method based on adaptive feedback compensation is proposed.First,based on the Lagrangian method,the dynamic model of a bipedal robot under different types of external force disturbances was established.Subsequently,through dynamic analysis,it was observed that classical control methods based on hybrid zero dynamics failed to consider the continuous and significant external force disturbances in uncertain environments.Therefore,an adaptive feedback compensation controller was designed,and an adaptive parameter adjustment optimization algorithm was proposed based on walking constraints to achieve stable walking of bipedal robots under different external force disturbances.Finally,in numerical simulation experiments,comparative analysis revealed that using only a controller based on hybrid zero dynamics was insufficient to converge the motion of a planar five-link bipedal robot subjected to periodic forces or bounded noise disturbances to a stable state.In contrast,in the adaptive feedback compensation control method,the use of an adaptive parameter adjustment optimization algorithm to generate time-varying control parameters successfully achieved stable walking of the robot under these disturbances.This indicates the effectiveness of the adaptive parameter adjustment algorithm and the robustness of the adaptive feedback compensation control method. 展开更多
关键词 Bipedal robot External disturbance Walking stability Adaptive feedback compensation Anti-disturbance control
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An Underwater Biomimetic Robot that can Swim,Bipedal Walk and Grasp 认领 引用 被引量：2
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作者 Qiuxuan Wu Liwei Pan +5 位作者 FuLin Du ZhaoSheng Wu XiaoNi Chi FaRong Gao Jian Wang Anton A.Zhilenkov 《Journal of Bionic Engineering》 SCIE EI CSCD 2024年第3期1223-1237,共15页
In developing and exploring extreme and harsh underwater environments,underwater robots can effectively replace humans to complete tasks.To meet the requirements of underwater flexible motion and comprehensive subsea ... In developing and exploring extreme and harsh underwater environments,underwater robots can effectively replace humans to complete tasks.To meet the requirements of underwater flexible motion and comprehensive subsea operation,a novel octopus-inspired robot with eight soft limbs was designed and developed.This robot possesses the capabilities of underwater bipedal walking,multi-arm swimming,and grasping objects.To closely interact with the underwater seabed environment and minimize disturbance,the robot employs a cable-driven flexible arm for its walking in underwater floor through a bipedal walking mode.The multi-arm swimming offers a means of three-dimensional spatial movement,allowing the robot to swiftly explore and navigate over large areas,thereby enhancing its flexibility.Furthermore,the robot’s walking arm enables it to grasp and transport objects underwater,thereby enhancing its practicality in underwater environments.A simplified motion models and gait generation strategies were proposed for two modes of robot locomotion:swimming and walking,inspired by the movement characteristics of octopus-inspired multi-arm swimming and bipedal walking.Through experimental verification,the robot’s average speed of underwater bipedal walking reaches 7.26 cm/s,while the horizontal movement speed for multi-arm swimming is 8.6 cm/s. 展开更多
关键词 Underwater soft robots Underwater bipedal walking Multi-arm swimming Cable drive
Development of Minimalist Bipedal Walking Robot with Flexible Ankle and Split-mass Balancing Systems 认领 引用 被引量：7
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作者 Hudyjaya Siswoyo Jo1Nazim Mir-Nasiri 《International Journal of Automation and computing》 CSCD 2013年第5期425-437,共13页
This paper presents a novel design of minimalist bipedal walking robot with flexible ankle and split-mass balancing systems.The proposed approach implements a novel strategy to achieve stable bipedal walk by decouplin... This paper presents a novel design of minimalist bipedal walking robot with flexible ankle and split-mass balancing systems.The proposed approach implements a novel strategy to achieve stable bipedal walk by decoupling the walking motion control from the sideway balancing control.This strategy allows the walking controller to execute the walking task independently while the sideway balancing controller continuously maintains the balance of the robot.The hip-mass carry approach and selected stages of walk implemented in the control strategy can minimize the efect of major hip mass of the robot on the stability of its walk.In addition,the developed smooth joint trajectory planning eliminates the impacts of feet during the landing.In this paper,the new design of mechanism for locomotion systems and balancing systems are introduced.An additional degree of freedom introduced at the ankle joint increases the sensitivity of the system and response time to the sideway disturbances.The efectiveness of the proposed strategy is experimentally tested on a bipedal robot prototype.The experimental results provide evidence that the proposed strategy is feasible and advantageous. 展开更多
关键词 Bipedal robot bipedal walking stability control robot dynamics legged locomotion
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Learning Robust Locomotion for Bipedal Robot via Embedded Mechanics Properties 认领 引用
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作者 Yuanxi Zhang Xuechao Chen +4 位作者 Fei Meng Zhangguo Yu Yidong Du Junyao Gao Qiang Huang 《Journal of Bionic Engineering》 SCIE EI CSCD 2024年第3期1278-1289,共12页
Reinforcement learning(RL)provides much potential for locomotion of legged robot.Due to the gap between simulation and the real world,achieving sim-to-real for legged robots is challenging.However,the support polygon ... Reinforcement learning(RL)provides much potential for locomotion of legged robot.Due to the gap between simulation and the real world,achieving sim-to-real for legged robots is challenging.However,the support polygon of legged robots can help to overcome some of these challenges.Quadruped robot has a considerable support polygon,followed by bipedal robot with actuated feet,and point-footed bipedal robot has the smallest support polygon.Therefore,despite the existing sim-to-real gap,most of the recent RL approaches are deployed to the real quadruped robots that are inherently more stable,while the RL-based locomotion of bipedal robot is challenged by zero-shot sim-to-real task.Especially for the point-footed one that gets better dynamic performance,the inevitable tumble brings extra barriers to sim-to-real task.Actually,the crux of this type of problem is the difference of mechanics properties between the physical robot and the simulated one,making it difficult to play the learned skills well on the physical bipedal robot.In this paper,we introduce the embedded mechanics properties(EMP)based on the optimization with Gaussian processes to RL training,making it possible to perform sim-to-real transfer on the BRS1-P robot used in this work,hence the trained policy can be deployed on the BRS1-P without any struggle.We validate the performance of the learning-based BRS1-P on the condition of disturbances and terrains not ever learned,demonstrating the bipedal locomotion and resistant performance. 展开更多
关键词 Bipedal robot Reinforcement learning Sim-to-real Mechanics properties
Kinematic analysis of flexible bipedal robotic systems 认领 引用 被引量：2
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作者 R.FAZEL A.M.SHAFEI S.R.NEKOO 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI CSCD 2024年第5期795-818,共24页
In spite of its intrinsic complexities,the passive gait of bipedal robots on a sloping ramp is a subject of interest for numerous researchers.What distinguishes the present research from similar works is the considera... In spite of its intrinsic complexities,the passive gait of bipedal robots on a sloping ramp is a subject of interest for numerous researchers.What distinguishes the present research from similar works is the consideration of flexibility in the constituent links of this type of robotic systems.This is not a far-fetched assumption because in the transient(impact)phase,due to the impulsive forces which are applied to the system,the likelihood of exciting the vibration modes increases considerably.Moreover,the human leg bones that are involved in walking are supported by viscoelastic muscles and ligaments.Therefore,for achieving more exact results,it is essential to model the robot links with viscoelastic properties.To this end,the Gibbs-Appell formulation and Newton's kinematic impact law are used to derive the most general form of the system's dynamic equations in the swing and transient phases of motion.The most important issue in the passive walking motion of bipedal robots is the determination of the initial robot configuration with which the system could accomplish a periodic and stable gait solely under the effect of gravitational force.The extremely unstable nature of the system studied in this paper and the vibrations caused by the impulsive forces induced by the impact of robot feet with the inclined surface are some of the very serious challenges encountered for achieving the above-mentioned goal.To overcome such challenges,an innovative method that uses a combination of the linearized equations of motion in the swing phase and the algebraic motion equations in the transition phase is presented in this paper to obtain an eigenvalue problem.By solving this problem,the suitable initial conditions that are necessary for the passive gait of this bipedal robot on a sloping surface are determined.The effects of the characteristic parameters of elastic links including the modulus of elasticity and the Kelvin-Voigt coefficient on the walking stability of this type of robotic systems are also studied.The findings of this parametric study reveal that the increase in the Kelvin-Voigt coefficient enhances the stability of the robotic system,while the increase in the modulus of elasticity has an opposite effect. 展开更多
关键词 bipedal robot flexible link swing phase transient phase eigenvalue problem Kelvin-Voigt coefficient
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Dynamic Stability of Passive Bipedal Walking on Rough Terrain: A Preliminary Simulation Study 认领 引用 被引量：2
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作者 Parsa Nassiri Afshar Lei Ren 《Journal of Bionic Engineering》 SCIE EI CSCD 2012年第4期423-433,共11页
A simplified 2D passive dynamic model was simulated to walk down on a rough slope surface defined by deterministic profiles to investigate how the walking stability changes with increasing surface roughness. Our resul... A simplified 2D passive dynamic model was simulated to walk down on a rough slope surface defined by deterministic profiles to investigate how the walking stability changes with increasing surface roughness. Our results show that the passive walker can walk on rough surfaces subject to surface roughness up to approximately 0.1% of its leg length. This indicates that bipedal walkers based on passive dynamics may possess some intrinsic stability to adapt to rough terrains although the maxi- mum roughness they can tolerate is small. Orbital stability method was used to quantify the walking stability before the walker started to fall over, It was found that the average maximum Floquet multiplier increases with surface roughness in a non-linear form. Although the passive walker remained orbitally stable for all the simulation cases, the results suggest that the possibility of the bipedal model moving away from its limit cycle increases with the surface roughness if subjected to additional perturbations. The number of consecutive steps before falling was used to measure the walking stability after the passive walker started to fall over. The results show that the number of steps before falling decreases exponentially with the increase in surface roughness. When the roughness magnitude approached to 0.73% of the walker＇s leg length, it fell down to the ground as soon as it entered into the uneven terrain. It was also found that shifting the phase angle of the surface profile has apparent affect on the system stability. This is probably because point contact was used to simulate the heel strikes and the resulted variations in system states at heel strikes may have pronounced impact on the passive gaits, which have narrow basins of attraction. These results would provide insight into how the dynamic stability of passive bipedal walkers evolves with increasing surface roughness. 展开更多
关键词 bipedal walking rough terrain dynamic stability human locomotion
Performance of a Thermal Bipedal Walker on Inclined Surfaces with Different Leg CoMs 认领 引用
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作者 Lingchao Su Takeru Nemoto Akio Yamamoto 《Journal of Bionic Engineering》 SCIE EI CSCD 2019年第3期540-549,共10页
This paper investigates the walking performance of a thermal walker on various inclined surfaces. The thermal walker can walk only by ground heat energy using bimetal sheets. The walking performance on slopes is analy... This paper investigates the walking performance of a thermal walker on various inclined surfaces. The thermal walker can walk only by ground heat energy using bimetal sheets. The walking performance on slopes is analyzed using a simplified walker model. The analytical result is compared with the two sets of walking experiments, on slopes with either pitch or roll inclinations. The analyses and the experiments are done with different Center-of-Mass (CoM) positions of the legs, which considerably influence the walking performance. It was found that, on up/down slopes, the stride of the thermal walker changes almost linearly with the slope angle. When the CoM was close to the center of the walker body, the walker walked backward on upward slopes. With CoM largely shifted backward, the walker could walk up slopes but did not walk down slopes well. On the other hand, when walking along a contour line of a slope, the stride decreased as the slope angle increased. The smaller leg swing distances would be caused by the change of leg swing time on such slopes. 展开更多
关键词 bipedal walker bimetal thermal walker thermal actuator slope
Qualitative Comparison between Rats and Humans in Quadrupedal and Bipedal Locomotion 认领 引用
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作者 Taisei Hosoido Futoshi Mori +5 位作者 Keita Kiyoto Takashi Takagi Yukari Sano Megumi Goto Katsumi Nakajima Naomi Wada 《Journal of Behavioral and Brain Science》 2013年第1期137-149,共13页
Bipedal (Bp) locomotion is one of the most characteristic motor behaviors in human beings. Innate quadrupedal (Qp) four-legged animals also often walk bipedally. The walking posture, however, is significantly differen... Bipedal (Bp) locomotion is one of the most characteristic motor behaviors in human beings. Innate quadrupedal (Qp) four-legged animals also often walk bipedally. The walking posture, however, is significantly different between the two. This suggests that although both have a potential to walk bipedally, however, the human has a body scheme suitable for Bp locomotion, probably its skeletal system. The skeletal system includes the lumbar lordosis, sacral kyphosis, a round pelvis, a large femur neck angle, short feet, and so on. To verify this hypothesis, we compared kinematic and EMG activities between rats and humans during Qp and Bp locomotion on a treadmill belt. The rat is a representative Qp animal, but it is able to acquire Bp walking capability with motor learning. Although the mobile ranges of the hindlimb joint are different during each locomotor pattern between rats and humans, both showed replicable flexion and extension excursion patterns for each joint depending on the locomotor phase. There are many phase-locked EMG bursts between rats and humans during the same walking task and these are observed in the proximal rather than the distal muscles. This suggests that both rats and humans utilize similar neuronal systems for the elaboration of Qp and Bp locomotion. It was interesting that both subjects showed more muscle activities during non-natural locomotor patterns;Qp < Bp for rats and Bp < Qp for humans. This indicates that rat Bp and human Qp walking need more effort and we may be able to find its reason in their skeletal system. 展开更多
关键词 Human Rat Evolution Posture Locomotion Bipedal Quadrupedal
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Turning in a Bipedal Robot 认领 引用 被引量：1
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作者 Jau-Ching Lu Jing-Yi Chen Pei-Chun Lin 《Journal of Bionic Engineering》 SCIE EI CSCD 2013年第3期292-304,共13页
We report the development of turning behavior on a child-size bipedal robot that addresses two common scenarios:turning in place and simultaneous walking and turning.About turning in place,three strategies are investi... We report the development of turning behavior on a child-size bipedal robot that addresses two common scenarios:turning in place and simultaneous walking and turning.About turning in place,three strategies are investigated and compared,including body-first,leg-first,and body/leg-simultaneous,These three strategies are used for three actions,respectively:when walking follows turning immediately,when space behind the robot is very tight,and when a large turning angle is desired.Concerning simultaneous walking and turning,the linear inverted pendulum is used as the motion model in the single-leg support phase,and the polynomial-based trajectory is used as the motion model in the double-leg support phase and for smooth motion connectivity to motions in a priori and a posteriori single-leg support phases.Compared to the trajectory generation of ordinary walking,that of simultaneous walking and turning introduces only two extra parameters:one for determining new heading direction and the other for smoothing the Center of Mass(COM)trajectory.The trajectory design methodology is validated in both simulation and experimental environments,and successful robot behavior confirms the effectiveness of the strategy. 展开更多
关键词 turning biped humanoid trajectory planning robot
To what extent can bipedal robots adapt to complex environments? 认领 引用
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作者 Ruilin Wang 《Advances in Engineering Innovation》 2026年第5期1-18,共18页
Nowadays,the adaptability of bipedal robots to different terrains becomes a critical topic because the application environments of robots often are complex,variable,and often unstructured.Examining this adaptability n... Nowadays,the adaptability of bipedal robots to different terrains becomes a critical topic because the application environments of robots often are complex,variable,and often unstructured.Examining this adaptability not only reveals the current progress of gait control and perception methods but also highlights key challenges that must be addressed to enable reliable,real-world deployment of bipedal robotic systems.This essay will first introduce the mechanism,types,and controlling methods of bipedal robots then provide numerous popular robots and finally discuss some highly controversial discussions.Overall,after widely searching for different types of newly invented bipedal robots,a significant progress was seen in bipedal robot's adaptability when meeting distinct uneven terrains,which most of the bipedal robots showed strong adaptability to uneven terrains.This conclusion is crucial because it demonstrates the readiness of bipedal robots for real-world environments,where surfaces are often rarely flat or predictable.After improving the advancement of robot's adaptability,a safer and more effective applications in areas such as post-disaster rescue and exploration work. 展开更多
关键词 bipedal robots terrain adaptability gait control compliant structures complex environments
Efficient Hybrid Environment Expression for Look-and-Step Behavior of Bipedal Walking 认领 引用 被引量：1
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作者 Chao Li Qingqing Li +3 位作者 Junhang Lai Xuechao Chen Zhangguo Yu Zhihong Jiang 《Cyborg and Bionic Systems》 SCIE EI CAS CSCD 2025年第1期792-803,共12页
The look-and-step behavior of biped robots requires quickly extracting planar regions and obstacles with limited computing resources.To this end,this paper proposes an efficient method representing the environment as ... The look-and-step behavior of biped robots requires quickly extracting planar regions and obstacles with limited computing resources.To this end,this paper proposes an efficient method representing the environment as a hybrid of feasible planar regions and a heightmap.The feasible planar regions are used for footstep planning,preventing the body from hitting obstacles,and the heightmap is used to calculate foot trajectory to avoid foot collision during the swing process.The planar regions are efficiently extracted by leveraging the organized structure of points for nearest neighbor searches.To ensure safe locomotion,these extracted planar regions exclude areas that could cause the robot's body to collide with the environment.The proposed method completes this perception process in 0.16 s per frame using only a central processing unit,making it suitable for look-and-step behavior of biped robots.Experiments conducted in typical artificial scenarios with BHR-7P and BHR-8P demonstrate its efficiency and safety,validating its effectiveness for the look-and-step behavior of biped robots. 展开更多
关键词 footstep planningpreventing bipedal walking look step behavior swing processthe foot collision calculate foot trajectory planar regions planar regions obstacles
Learning-based locomotion control fusing multimodal perception for a bipedal humanoid robot 认领 引用 被引量：1
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作者 Chao Ji Diyuan Liu +1 位作者 Wei Gao Shiwu Zhang 《Biomimetic Intelligence & Robotics》 EI CSCD 2025年第1期108-115,共8页
The ability of bipedal humanoid robots to walk adaptively on varied terrain is a critical challenge for practical applications,drawing substantial attention from academic and industrial research communities in recent ... The ability of bipedal humanoid robots to walk adaptively on varied terrain is a critical challenge for practical applications,drawing substantial attention from academic and industrial research communities in recent years.Traditional model-based locomotion control methods have high modeling complexity,especially in complex terrain environments,making locomotion stability difficult to ensure.Reinforcement learning offers an end-to-end solution for locomotion control in humanoid robots.This approach typically relies solely on proprioceptive sensing to generate control policies,often resulting in increased robot body collisions during practical applications.Excessive collisions can damage the biped robot hardware,and more critically,the absence of multimodal input,such as vision,limits the robot’s ability to perceive environmental context and adjust its gait trajectory promptly.This lack of multimodal perception also hampers stability and robustness during tasks.In this paper,visual information is added to the locomotion control problem of humanoid robot,and a three-stage multi-objective constraint policy distillation optimization algorithm is innovantly proposed.The expert policies of different terrains to meet the requirements of gait aesthetics are trained through reinforcement learning,and these expert policies are distilled into student through policy distillation.Experimental results demonstrate a significant reduction in collision rates when utilizing a control policy that integrates multimodal perception,especially in challenging terrains like stairs,thresholds,and mixed surfaces.This advancement supports the practical deployment of bipedal humanoid robots. 展开更多
关键词 Bipedal humanoid robot Deep reinforcement learning Multimodal perception
Push recovery for the standing under-actuated bipedal robot using the hip strategy 认领 引用 被引量：5
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作者 Chao LI Rong XIONG +3 位作者 Qiu-guo ZHU Jun WU Ya-liang WANG Yi-ming HUANG 《Frontiers of Information Technology & Electronic Engineering》 SCIE EI CSCD 2015年第7期579-593,共15页
This paper presents a control algorithm for push recovery,which particularly focuses on the hip strategy when an external disturbance is applied on the body of a standing under-actuated biped.By analyzing a simplified... This paper presents a control algorithm for push recovery,which particularly focuses on the hip strategy when an external disturbance is applied on the body of a standing under-actuated biped.By analyzing a simplified dynamic model of a bipedal robot in the stance phase,it is found that horizontal stability can be maintained with a suitably controlled torque applied at the hip.However,errors in the angle or angular velocity of body posture may appear,due to the dynamic coupling of the transla-tional and rotational motions.To solve this problem,different hip strategies are discussed for two cases when(1)external dis-turbance is applied on the center of mass(CoM)and(2)external torque is acting around the CoM,and a universal hip strategy is derived for most disturbances.Moreover,three torque primitives for the hip,depending on the type of disturbance,are designed to achieve translational and rotational balance recovery simultaneously.Compared with closed-loop control,the advantage of the open-loop methods of torque primitives lies in rapid response and reasonable performance.Finally,simulation studies of the push recovery of a bipedal robot are presented to demonstrate the effectiveness of the proposed methods. 展开更多
关键词 Push recovery Balance control Bipedal robot Hip strategy
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Aperiodic walking control of a biped robot perturbed by continuous strong external forces 认领 引用
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作者 Zijing Li Weidi Huang +4 位作者 Hua Lei Chunbiao Gan Wanchao Chi Shenghao Zhang Yuzhen Liu 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2026年第4期69-84,共16页
When robots walk on rough terrain or are subjected to continuous strong external disturbances,traditional methods do not have the flexibility to adjust bipedal walking gaits in a timely manner,often resulting in walki... When robots walk on rough terrain or are subjected to continuous strong external disturbances,traditional methods do not have the flexibility to adjust bipedal walking gaits in a timely manner,often resulting in walking instability.In response to this issue,an angular momentum linear inverted pendulum model and a multi-link dynamic model were established,respectively,for the biped robot Rabbit walking on an inclined terrain and disturbed by external forces at its center of mass.A controllable domain for the biped robot was defined by choosing the single-step average speed as the controllable target,from which the influence of variations of single-step duration and length was briefly analyzed.Based on the single-step duration optimization model combined with the traditional single-step length optimization scheme,a dual parameter optimization algorithm was developed.Subsequently,by designing a hierarchical control strategy based on the optimized gait parameters and joint trajectory tracking,an adaptive aperiodic gait of the biped robot was ultimately achieved.The simulation results of Rabbit walking on flat and inclined terrains under four different continuous strong external forces show that using the traditional single-step optimization scheme will lead to walking instability within a very limited time.However,a hierarchical anti-disturbance control strategy based on dual parameter optimization in the centroid layer and trajectory tracking in the joint layer can enable Rabbit to continue walking without falling for a longer time.In addition,the dual parameter optimization method can not only expand the controllable domain,but also effectively adjust the average speed of each step of Rabbit,making it change as much as possible within a safe and controllable range,and generating a more flexible and natural aperiodic gait. 展开更多
关键词 Biped robot Continuous strong external force Controllable domain Dual gait parameter optimization Hierarchical anti-disturbance control strategy
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Genomic insights into adaptation to bipedal saltation and desert-like habitats of jerboas 认领 引用 被引量：4
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作者 Simin Chai Yujie Chong +3 位作者 Daiqing Yin Qiang Qiu Shixia Xu Guang Yang 《Science China(Life Sciences)》 SCIE CAS CSCD 2024年第9期2003-2015,共13页
Jerboas is a lineage of small rodents displaying atypical mouse-like morphology with elongated strong hindlimbs and short forelimbs.They have evolved obligate bipedal saltation and acute senses,and been well-adapted t... Jerboas is a lineage of small rodents displaying atypical mouse-like morphology with elongated strong hindlimbs and short forelimbs.They have evolved obligate bipedal saltation and acute senses,and been well-adapted to vast desert-like habitats.Using a newly sequenced chromosome-scale genome of the Mongolian five-toed jerboa(Orientallactaga sibirica),our comparative genomic analyses and in vitro functional assays showed that the genetic innovations in both protein-coding and non-coding regions played an important role in jerboa morphological and physiological adaptation.Jerboa-specific amino acid substitutions,and segment insertions/deletions(indels)in conserved non-coding elements(CNEs)were found in components of proteoglycan biosynthesis pathway(XYLT1 and CHSY1),which plays an important role in limb development.Meanwhile,we found specific evolutionary changes functionally associated with energy or water metabolism(e.g.,specific amino acid substitutions in ND5 and indels in CNEs physically near ROR2)and senses(e.g.,expansion of vomeronasal receptors and the FAM136A gene family)in jerboas.Further dual-luciferase reporter assay verified that some of the CNEs with jerboa-specific segment indels exerted a significantly different influence on luciferase activity,suggesting changes in their regulatory function in jerboas.Our results revealed the potential molecular mechanisms underlying jerboa adaptation since the divergence from the Eocene-Oligocene transition,and provided more resources and new insights to enhance our understanding of the molecular basis underlying the phenotypic diversity and the environmental adaptation of mammals. 展开更多
关键词 jerboa adaptive evolution comparative genomics conserved non-coding elements bipedal saltation
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Squat motion of a bipedal robot using real-time kinematic prediction and whole-body control 认领 引用
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作者 Wenhan Cai Qingkai Li +3 位作者 Songrui Huang Hongjin Zhu Yong Yang Mingguo Zhao 《IET Cyber-Systems and Robotics》 EI 2022年第4期298-312,共15页
Squatting is a basic movement of bipedal robots,which is essential in robotic actions like jumping or picking up objects.Due to the intrinsic complex dynamics of bipedal robots,perfect squatting motion requires high-p... Squatting is a basic movement of bipedal robots,which is essential in robotic actions like jumping or picking up objects.Due to the intrinsic complex dynamics of bipedal robots,perfect squatting motion requires high-performance motion planning and control algorithms.The standard academic solution combines model predictive control(MPC)with whole-body control(WBC),which is usually computationally expensive and difficult to implement on practical robots with limited computing resources.The real-time kinematic prediction(RKP)method is proposed,which considers upcoming reference motion trajectories and combines it with quadratic programming(QP)-based WBC.Since the WBC handles the full robot dynamics and various constraints,the RKP only needs to adopt the linear kinematics in the robot's task space and to softly constrain the desired accelerations.Then,the computational cost of derived closed-form RKP is greatly reduced.The RKP method is verified in simulation on a heavy-loaded bipedal robot.The robot makes rapid and large-amplitude squatting motions,which require close-to-limit torque outputs.Compared with the conventional QP-based WBC method,the proposed method exhibits high adaptability to rough planning,which implies much less user interference in the robot's motion planning.Furthermore,like the MPC,the proposed method can prepare for upcoming motions in advance but requires much less computation time. 展开更多
关键词 bipedal robot real-time kinematic prediction squatting whole-body control
Control strategy for gait transition of an underactuated 3D bipedal robot 认领 引用 被引量：1
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作者 Hai-hui YUAN Yi-min GE Chun-biao GAN 《Frontiers of Information Technology & Electronic Engineering》 SCIE EI CSCD 2019年第8期1026-1036,共11页
Significant research interest has recently been attracted to the study of bipedal robots due to the wide variety of their potential applications.In reality,bipedal robots are often required to perform gait transitions... Significant research interest has recently been attracted to the study of bipedal robots due to the wide variety of their potential applications.In reality,bipedal robots are often required to perform gait transitions to achieve flexible walking.In this paper,we consider the gait transition of a five-link underactuated three-dimensional(3 D)bipedal robot,and propose a two-layer control strategy.The strategy consists of a unique,event-based,feedback controller whose feedback gain in each step is updated by an adaptive control law,and a transition controller that guides the robot from the current gait to a neighboring point of the target gait so that the state trajectory can smoothly converge to the target gait.Compared with previous works,the transition controller is parameterized and its control parameters are obtained by solving an optimization problem to guarantee the physical constraints in the transition process.Finally,the effectiveness of the control strategy is illustrated on the underactuated 3 D bipedal robot. 展开更多
关键词 Gait transition Underactuated three-dimensional biped Event-based feedback controller Adaptive control law
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A Walk Primitive with Double Support for Biped Robots 认领 引用 被引量：1
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作者 Guoshuai Liu Zhiguo Lu +2 位作者 Zhongqing Li Jin Xuan Aizun Liu 《Journal of Bionic Engineering》 SCIE EI CSCD 2025年第1期133-143,共11页
Walking is the basic locomotion pattern for bipedal robots.The walking pattern is widely generated using the linear inverted pendulum model.The linear inverted pendulum motion of each support period can be designed as... Walking is the basic locomotion pattern for bipedal robots.The walking pattern is widely generated using the linear inverted pendulum model.The linear inverted pendulum motion of each support period can be designed as a walk primitive to be connected to form a walking trajectory.A novel method of integrating double support phase into the walk primitive was proposed in this article.The method describes the generation of walking patterns using walk primitives with double support,specifically for lateral plane including walking in place,walking for lateral,and walking initiation,and for sagittal plane including fixed step length walking,variable step length walking,and walking initiation.Compared to walk primitives without double support phase,those with double support phase reduce the maximum speed required by the robot and eliminate the need to adjust foothold for achieving continuous speed.The performance of the proposed method is validated by simulations and experiments on Neubot,a position-controlled biped robot. 展开更多
关键词 Biped robot Linear inverted pendulum Walk primitive Double support
The Rise of Private Innovation China’s private sector thrives as government policies encourage technological advancements and entrepreneurship 认领 引用
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作者 Tao Xing 《China Report ASEAN》 2025年第4期56-57,共2页
Some 20 years ago,10-yearold Wang Xingxing watched a documentary that featured a bipedal robot designed by Marc Raibert,now president of U.S.-based robot company Boston Dynamics.That moment planted the seed for his fu... Some 20 years ago,10-yearold Wang Xingxing watched a documentary that featured a bipedal robot designed by Marc Raibert,now president of U.S.-based robot company Boston Dynamics.That moment planted the seed for his future in innovation.Today,operating in China’s private sector,Wang’s company,Hangzhou-based Unitree Robotics in Zhejiang Province,is a globally recognized name in producing high-performance,general-purpose quadruped and humanoid robots. 展开更多
关键词 quadruped bipedal robot humanoid robots technological advancements private sector
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