Walking robot

Abstract—This paper reports on the control structure of the pneumatic biped Lucy. The robot is actuated with pleated pneumatic artificial muscles, which have interesting characteristics that can be exploited for legged machines. They have a high power to weight ratio, an ...

This paper describes two humanoid robots developed in the Humanoid Robotics Institute, Waseda University. Hadaly-2 is intended to realize information interaction with humans by integrating environmental recognition with vision, conversation capability (voice recognition, voice synthesis), and gesture behaviors. It also possesses physical interaction functions for direct contact with humans and behaviors that are gentle and safe for humans. WABIAN is a robot with a complete human configuration that is capable of walking on two legs and ...

Central pattern generators (CPGs) are known to play an important role in the generation of rhythmic movements in gait, both in animals and humans. The comprehension of their underlying mechanism has led to the development of an important family of algorithms at the basis of autonomous walking robots. Recently, it has been shown that human gait could be modeled using a subclass of those algorithms, namely a Programmable Central Pattern Generator (PCPG). In this paper, we present a foot lifter orthosis driven by this algorithm. After a learning phase, the PCPG is able to generate adequate rhythmic gait patterns both for constant speeds and acceleration phases. Its output is used to drive the orthosis actuator during the swing phase, in order to help patients suffering from foot drop (the orthosis just follows the movement during the stance phase). The most interesting property of this algorithm is the possibility to generate a smooth output signal even during speed transitions. In practice, given that human gait is not perfectly periodic, the phase of this signal needs to be reset with actual movement. Therefore, two phase-resetting procedures were studied: one standard hard phase-resetting leading to discontinuities and one original soft phase-resetting allowing to recover the correct phase in a smooth way. The simulation results and complete design of the orthosis hardware and software are presented.

Insects have long been a source of inspiration for the design and implementation of legged robots. Their extraordinary mobility, agility, and adaptability are features sought after when developing competent, useful mobile walkers. Externally witnessed behaviors have been successfully implemented in walking robots for decades with great success. More recent years of biological study have solved some of the mysteries surrounding

Abstract—Alduro is a four-legged walking robot. Its main goal is to operate in rugged terrain, translating the cartesian operator commands,(joystick) into actuator space by coor- dinating the legs according to the users wish. At the same time static stability has to be guaranteed, obstacles have to be avoided and the posture of the main body kept. This re- quires an elaborate motion coordination and controller soft- ware. One possible way to organise this is described here: by isolating the physical robot from the motion generation (hardware abstraction layer), by using concurrent behav- iours for motion generation and by strict modularisation of the software. The selected tools and realtime operating system are described in the last sections. Index Terms—Walking Robot, Quadruped, Modular Con-

Vehicles which operate more or less autonomously are considered belonging to the robot's family. The legged vehicles have the potential advantage to be able to operate over irregular terrain. The planning and control of these robots is considered hierarchically organized on two levels. At the high level, the robot is piloted in the task world. At the local level -

Designing and manufacturing mechanisms that are able to move on a slope according to the gravity has been an issue of the interests of researchers recently. In this paper the designing and manufacturing a Passive biped robot with 3 degrees of freedom is presented. This robot is able to move down on slope with a minimum tangent based on the gravity and without any controller or any supplier. After presenting the governing equations and the dynamic of the robot, a computer simulation is done. Finally a comparison between the results from the physical model and the results from the numerical simulation is done to check the validity of the project.

In the field of minimally-actuated robots, energy efficiency and stability are two of the fundamental criteria that can increase autonomy and improve task-performance capabilities. In this paper, we demonstrate that the energetic cost of leg swinging in dynamic robots can be reduced without significantly affecting stability by emulating the physiological use of passive joint stiffness, and we suggest that similar