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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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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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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
CPG Control for Biped Hopping Robot in Unpredictable Environment 认领 引用 被引量：21
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作者 Tingting Wang Wei Guo +2 位作者 Mantian Li Fusheng Zha Lining Sun 《Journal of Bionic Engineering》 SCIE EI CSCD 2012年第1期29-38,共10页
A CPG control mechanism is proposed for hopping motion control of biped robot in unpredictable environment. Based on analysis of robot motion and biological observation of animal＇s control mechanism, the motion contr... A CPG control mechanism is proposed for hopping motion control of biped robot in unpredictable environment. Based on analysis of robot motion and biological observation of animal＇s control mechanism, the motion control task is divided into two simple parts： motion sequence control and output force control. Inspired by a two-level CPG model, a two-level CPG control mechanism is constructed to coordinate the drivers of robot joint, while various feedback information are introduced into the control mechanism. Interneurons within the control mechanism are modeled to generate motion rhythm and pattern promptly for motion sequence control; motoneurons are modeled to control output forces of joint drivers in real time according to feedbacks. The control system can perceive changes caused by unknown perturbations and environment changes according to feedback information, and adapt to unpredictable environment by adjusting outputs of neurons. The control mechanism is applied to a biped hopping robot in unpredictable environment on simulation platform, and stable adaptive motions are obtained. 展开更多
关键词 biped robot unpredictable environment hopping motion control bionic control CPG
A Bio-Inspired Biped Water Running Robot Incorporating the Watt-I Planar Linkage Mechanism 认领 引用 被引量：14
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作者 Linsen Xu Tao Mei +2 位作者 Xianming Wei Kai Cao Mingzhou Luo 《Journal of Bionic Engineering》 SCIE EI CSCD 2013年第4期415-422,共8页
In this paper, a biped water running robot is developed by mimicking the water-running pattern of basilisk lizards. The dynamic mechanism of the robot was studied based on Watt-I planar linkages, and the movement traj... In this paper, a biped water running robot is developed by mimicking the water-running pattern of basilisk lizards. The dynamic mechanism of the robot was studied based on Watt-I planar linkages, and the movement trajectory of the double bar Assur Group was deduced to simulate the water-running foot trajectories of the basilisk lizard. A Central Pattern Generator （CPG）-based fuzzy control method was proposed to control the robot for realizing balance control and gait adjustment. The effectiveness of the proposed control method was verified on the prototype of a water running robot （weight： 320 g）. When the biped robot is running on water, the average force generated by the propulsion mechanism is 1.3 N, and the robot body tilt angle is 5~. The experiment results show that the propulsion mechanism is effective in realizing the basilisk lizards-like water running patterns, and the CPG-based fuzzy control method is effective in keeping the balance of the robot. 展开更多
关键词 bio-inspired robot basilisk lizards-like robot biped water running CPG-based fuzzy control
Development of Wheel-Legged Biped Robots:A Review 认领 引用 被引量：9
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作者 Xuefei Liu Yi Sun +7 位作者 Shikun Wen Kai Cao Qian Qi Xiaoshu Zhang Huan Shen Guangming Chen Jiajun Xu Aihong Ji 《Journal of Bionic Engineering》 SCIE EI CSCD 2024年第2期607-634,共28页
The wheel-legged biped robot is a typical ground-based mobile robot that can combine the high velocity and high efficiency pertaining to wheeled motion and the strong,obstacle-crossing performance associated with legg... The wheel-legged biped robot is a typical ground-based mobile robot that can combine the high velocity and high efficiency pertaining to wheeled motion and the strong,obstacle-crossing performance associated with legged motion.These robots have gradually exhibited satisfactory application potential in various harsh scenarios such as rubble rescue,military operations,and wilderness exploration.Wheel-legged biped robots are divided into four categories according to the open–close chain structure forms and operation task modes,and the latest technology research status is summarized in this paper.The hardware control system,control method,and application are analyzed,and the dynamic balance control for the two-wheel,biomimetic jumping control for the legs and whole-body control for integrating the wheels and legs are analyzed.In summary,it is observed that the current research exhibits problems,such as the insufficient application of novel materials and a rigid–flexible coupling design;the limited application of the advanced,intelligent control methods;the inadequate understanding of the bionic jumping mechanisms in robot legs;and the insufficient coordination ability of the multi-modal motion,which do not exhibit practical application for the wheel-legged biped robots.Finally,this study discusses the key research directions and development trends for the wheel-legged biped robots. 展开更多
关键词 Wheel-legged biped robot Wheeled motion Legged motion Control strategy
Adaptive Walking Control of Biped Robots Using Online Trajectory Genera- tion Method Based on Neural Oscillators 认领 引用 被引量：8
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作者 Chengju Liu Danwei Wang +1 位作者 Erik David Goodman Qijun Chen 《Journal of Bionic Engineering》 SCIE EI CSCD 2016年第4期572-584,共13页
This work concerns biped adaptive walking control on irregular terrains with online trajectory generation. A new trajectory generation method is proposed based on two neural networks. One oscillatory network is design... This work concerns biped adaptive walking control on irregular terrains with online trajectory generation. A new trajectory generation method is proposed based on two neural networks. One oscillatory network is designed to generate foot trajectory, and another set of neural oscillators can generate the trajectory of Center of Mass （CoM） online. Using a motion engine, the characteristics of the workspace are mapped to the joint space. The entraining property of the neural oscillators is exploited for adaptive walking in the absence of a priori knowledge of walking conditions. Sensory feedback is applied to modify the gen- erated trajectories online to improve the walking quality. Furthermore, a staged evolutionary algorithm is developed to tune system parameters to improve walking performance. The developed control strategy is tested using a humanoid robot on ir- regular terrains. The experiments verify the success of the presented strategy. The biped robot can walk on irregular terrains with varying slopes, unknown bumps and stairs through autonomous adjustment of its walking patterns. 展开更多
关键词 biped robot adaptive walking neural oscillator trajectory generation staged evolution algorithm
Dynamical analysis and performance evaluation of a biped robot under multi-source random disturbances 认领 引用 被引量：5
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作者 Chun-Biao Gan Chang-Tao Ding Shi-Xi Yang 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2014年第6期983-994,共12页
During bipedal walking,it is critical to detect and adjust the robot postures by feedback control to maintain its normal state amidst multi-source random disturbances arising from some unavoidable uncertain factors.Th... During bipedal walking,it is critical to detect and adjust the robot postures by feedback control to maintain its normal state amidst multi-source random disturbances arising from some unavoidable uncertain factors.The radical basis function（RBF）neural network model of a five-link biped robot is established,and two certain disturbances and a randomly uncertain disturbance are then mixed with the optimal torques in the network model to study the performance of the biped robot by several evaluation indices and a specific Poincar′e map.In contrast with the simulations,the response varies as desired under optimal inputting while the output is fluctuating in the situation of disturbance driving.Simulation results from noise inputting also show that the dynamics of the robot is less sensitive to the disturbance of knee joint input of the swing leg than those of the other three joints,the response errors of the biped will be increasing with higher disturbance levels,and especially there are larger output fluctuations in the knee and hip joints of the swing leg. 展开更多
关键词 Biped robot Multi-source random disturbances Sensitive parameters RBF neural network Taguchi method Performance evaluation
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Planning and Control of COP-Switch-Based Planar Biped Walking 认领 引用 被引量：5
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作者 X. Luo W. Li C. Zhu 《Journal of Bionic Engineering》 SCIE EI CSCD 2011年第1期33-48,共16页
Efficient walking is one of the main goals of researches on biped robots. A feasible way is to translate the understanding from human walking into robot walking, for example, an artificial control approach on a human ... Efficient walking is one of the main goals of researches on biped robots. A feasible way is to translate the understanding from human walking into robot walking, for example, an artificial control approach on a human like walking structure. In this paper, a walking pattern based on Center of Pressure （COP） switched and modeled after human walking is introduced firstly. Then, a parameterization method for the proposed walking gait is presented. In view of the complication, a multi-space planning method which divides the whole planning task into three sub-spaces, including simplified model space, work space and joint space, is proposed. Furthermore, a finite-state-based control method is also developed to implement the proposed walking pattern. The state switches of this method are driven by sensor events. For convincing verification, a 2D simulation system with a 9-1ink planar biped robot is developed. The simulation results exhibit an efficient walking gait. 展开更多
关键词 biped walking bio-inspired COP switch control multi-space planning simulation
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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Planning and Control for Passive Dynamics Based Walking of 3D Biped Robots 认领 引用 被引量：6
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作者 Xiang Luo Wenlong Xu 《Journal of Bionic Engineering》 SCIE EI CSCD 2012年第2期143-155,共13页
Efficient walking is one of the main goals of research on biped robots. Passive Dynamics Based Walking （PDBW） has been proven to be an efficient pattern in numerous previous approaches to 2D biped walking. The goal ... Efficient walking is one of the main goals of research on biped robots. Passive Dynamics Based Walking （PDBW） has been proven to be an efficient pattern in numerous previous approaches to 2D biped walking. The goal of this study is to develop feasible method for the application of PDBW to 3D robots. First a hybrid control method is presented, where a previously proposed two-point-foot walking pattern is employed to generate a PDBW gait in the sagittal plane and, in the frontal plane, a systematic balance control algorithm is applied including online planning of the landing point of the swing leg and feedback control of the stance foot. Then a multi-space planning structure is proposed to implement the proposed method on a 13-link 3D robot. Related kinematics and planning details of the robot are presented. Furthermore, a simulation of the 13-link biped robot verifies that stable and highly efficient walking can be achieved by the proposed control method. In addition, a number of features of the biped walking, including the transient powers and torques of the joints are explored. 展开更多
关键词 3D biped robot passive dynamics based walking balance control multi-space planning simulation
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
STUDIES ON MECHANICS PROBLEM OF DYNAMIC WALKING OF ANTHROPOMORPHIC BIPED ROBOTS 认领 引用 被引量：1
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作者 Tan Guanzheng Yang Hongzhi 《Journal of Central South University》 SCIE EI CAS 1995年第2期59-65,共7页
This paper deals with the mechanics problem of dynamic walking of anthropomorphic biped robots. Through analysing the mechanics system of this kind of robots in detail, the motion constraint equations are established,... This paper deals with the mechanics problem of dynamic walking of anthropomorphic biped robots. Through analysing the mechanics system of this kind of robots in detail, the motion constraint equations are established, three mechanics laws describing the r 展开更多
关键词 anthropomorphic biped robot dynamic walking mechanics system mechanics laws measuring and computing
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Study and Development of the Biped Ice Skating Robot with Passive Wheels 认领 引用
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作者 徐子力 吕恬生 +2 位作者 田华 徐振华 宋立博 《Journal of Shanghai Jiaotong university(Science)》 EI 2007年第6期780-786,共7页
A new passive wheel type of biped ice-skating robot(BISR)which was able to imitate human skating motion was developed. Firstly, the characteristics of two types of human skating gait were introduced; secondly, after s... A new passive wheel type of biped ice-skating robot(BISR)which was able to imitate human skating motion was developed. Firstly, the characteristics of two types of human skating gait were introduced; secondly, after simplifying the kinematical model, the BISR's motion principle was presented; then the construction and control system of BISR were proposed; at last, the skating experiment of the BISR in a symmetric gait mode was conducted and some conclusions were drawn. 展开更多
关键词 biped ice-skating robot(BISR) gait plan kinematics mapping control system
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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
Dynamic Analysis of the Biped Ice-skater Robot of Passive Wheel Type 认领 引用
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作者 徐子力 吕恬生 +2 位作者 田华 徐振华 宋立博 《Journal of Shanghai Jiaotong university(Science)》 EI 2008年第1期122-128,共7页
A new passive wheel type of biped ice-skater robot (BISR) subjected to nonholonomic constraints was presented on the basis of ice-skating principle. Its motion principle and construction were discussed. After the mode... A new passive wheel type of biped ice-skater robot (BISR) subjected to nonholonomic constraints was presented on the basis of ice-skating principle. Its motion principle and construction were discussed. After the model was simplified and the coordinate systems were established, the motion differential equations of the robot were obtained with the generalized Lagrange-Maggi equation when the nonholonomic constraints existed. Actual examples were given and the result was simulated on computer. 展开更多
关键词 biped ice-skater robot dynamics nonholonomic constraint Maggi equation
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Biped 4R2C Six-bar Mechanism with Inner and Outer Feet 认领 引用
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作者 LIU Chao WANG Hao YAO Yan-an 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2016年第1期45-55,共11页
Most current biped robots are equipped with two feet arranged in the right and left which inspired by the human body system. Different from the existing configurations, a novel biped robot with inner and outer feet ba... Most current biped robots are equipped with two feet arranged in the right and left which inspired by the human body system. Different from the existing configurations, a novel biped robot with inner and outer feet based on a spatial six-bar 4R2C（R and C denote revolute and cylindric joints, respectively） mechanism is proposed. It can move along a line or a curve by three walking modes that are dwell adjustment mode, limit position adjustment mode and any position adjustment mode. Kinematic, gait planning and stability analyses are performed respectively, and a prototype is developed. Lastly, a potential application is considered and two manipulating modes（sphere and cylinder manipulating modes） are carried out. This interesting mechanism feathering its single dosed-chain structure and unique work performance is expected to motivate the configuration creation of biped robots. 展开更多
关键词 spatial six-bar mechanism 4R2C mechanism biped mechanism
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Balance recovery control for biped robot based on reaction null space method 认领 引用
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作者 Baoping WANG Renxi HU +1 位作者 Jinming ZHANG Chuangfeng HUAI 《控制理论与应用（英文版）》 2009年第1期87-91,共5页
A biped walking robot should be able to keep balance even in the presence of disturbing forces. This paper presents a step strategy concept of biped walking robot that is stabilized by using reaction null space method... A biped walking robot should be able to keep balance even in the presence of disturbing forces. This paper presents a step strategy concept of biped walking robot that is stabilized by using reaction null space method. The called ＂step strategy＂ can be modeled by means of the reaction null space method that introduced earlier to tackle dynamic interaction problems of free-floating robots, or moving base robots in general. 6-DOF biped robot model simulations are used to confirm the validity. 展开更多
关键词 Biped robot Balance recovery control Reaction null space Step strategy
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A New Method of Desired Gait Synthesis for Biped Walking Robot Based on Ground Reaction Force 认领 引用
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作者 张永学 《High Technology Letters》 EI CAS 2000年第4期33-38,共6页
A new method of desired gait synthesis for biped walking robot based on the ground reaction force was proposed. The relation between the ground reaction force and joint motion is derived using the D’Almbert principle... A new method of desired gait synthesis for biped walking robot based on the ground reaction force was proposed. The relation between the ground reaction force and joint motion is derived using the D’Almbert principle. In view of dynamic walking with high stability, the ZMP(Zero Moment Point)stability criterion must be considered in the desired gait synthesis. After that, the joint trajectories of biped walking robot are decided by substituting the ground reaction force into the aforesaid relation based on the ZMP criterion. The trajectory of desired ZMP is determined by a fuzzy logic based upon the body posture of biped walking robot. The proposed scheme is simulated and experimented on a 10 degree of freedom biped walking robot. The results indicate that the proposed method is feasible. 展开更多
关键词 Biped walking robot Desired gait synthesis ZMP Ground reaction force Fuzzy logic
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Balance Control of a Biped Robot on a Rotating Platform Based on Efficient Reinforcement Learning 认领 引用 被引量：11
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作者 Ao Xi Thushal Wijekoon Mudiyanselage +1 位作者 Dacheng Tao Chao Chen 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2019年第4期938-951,共14页
In this work,we combined the model based reinforcement learning(MBRL)and model free reinforcement learning(MFRL)to stabilize a biped robot(NAO robot)on a rotating platform,where the angular velocity of the platform is... In this work,we combined the model based reinforcement learning(MBRL)and model free reinforcement learning(MFRL)to stabilize a biped robot(NAO robot)on a rotating platform,where the angular velocity of the platform is unknown for the proposed learning algorithm and treated as the external disturbance.Nonparametric Gaussian processes normally require a large number of training data points to deal with the discontinuity of the estimated model.Although some improved method such as probabilistic inference for learning control(PILCO)does not require an explicit global model as the actions are obtained by directly searching the policy space,the overfitting and lack of model complexity may still result in a large deviation between the prediction and the real system.Besides,none of these approaches consider the data error and measurement noise during the training process and test process,respectively.We propose a hierarchical Gaussian processes(GP)models,containing two layers of independent GPs,where the physically continuous probability transition model of the robot is obtained.Due to the physically continuous estimation,the algorithm overcomes the overfitting problem with a guaranteed model complexity,and the number of training data is also reduced.The policy for any given initial state is generated automatically by minimizing the expected cost according to the predefined cost function and the obtained probability distribution of the state.Furthermore,a novel Q(λ)based MFRL method scheme is employed to improve the policy.Simulation results show that the proposed RL algorithm is able to balance NAO robot on a rotating platform,and it is capable of adapting to the platform with varying angular velocity. 展开更多
关键词 Biped robot Gaussian processes(GP) reinforcement learning temporal difference
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