Robust Locomotion for Biped Humanoid Robots

A Review: Robust Locomotion for Biped Humanoid Robots

This paper presents a brief overview of work and methods on robust walking and running for bipedal robots.

Robust Locomotion for Biped Humanoid Robots - IOPscience

A Review: Robust Locomotion for Biped Humanoid Robots. Ye Xie1 and Bin Lou1, Anhuan Xie1,2 and Dan Zhang1,3*. 1Intelligent Robot Research Centre, Zhejiang Lab ...

A Robust Closed-Loop Biped Locomotion Planner Based on Time ...

Abstract:Developing robust locomotion for humanoid robots is a complex task due to the unstable nature of these robots and also to the ...

Robust biped locomotion using deep reinforcement learning on top ...

Developing a robust locomotion for bipedal robots is a challenging problem which has been investigated for decades. Although several walking approaches have ...

A Review: Robust Locomotion for Biped Humanoid Robots - OUCI

... biped humanoid robots is to achieve high robustness in locomotion. This paper presents a brief overview of work and methods on robust walking and running ...

A Robust Biped Locomotion Based on Linear-Quadratic-Gaussian ...

Abstract: Generating robust locomotion for a humanoid robot in the presence of disturbances is difficult because of its high number of degrees of freedom ...

Robust Walking and Running Gaits for Biped Robots with a QP ...

This paper presents a new control approach for a humanoid biped robot to perform highly dynamic locomotion and keep balance under large external ...

Locomotion approach of bipedal robot utilizing passive wheel ...

The biped type leg-wheel robots enable the transformation between bipedal walking and wheel locomotion by utilizing the stewart platform ...

Robust Bipedal Locomotion Based on a Hierarchical Control Structure

Yoshida, “Real-Time Replanning Using. 3d Environment for Humanoid Robot,” Proceedings of the 11th IEEE-RAS International Conference on. Humanoid Robots ( ...

A Review: Robust Locomotion for Biped Humanoid Robots — PolyU ...

One of the most interesting and pressing challenges in the study on biped humanoid robots is to achieve high robustness in locomotion. This paper presents a ...

Robust Walking for Humanoid Robot Based on Divergent ... - NCBI

They used capture points to implement the push recovery of bipedal robots. Takenaka et al. [30] analyzed the state-space equations of LIPM and ...

Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal ...

Going beyond focusing on a single locomotion skill, we develop a general control solution that can be used for a range of dynamic bipedal skills ...

A modular framework to generate robust biped locomotion

Humanoid robots are more adapted to our real environment for helping us to perform our daily-life tasks. Developing a robust walking framework ...

Robust stabilization of a fully actuated 3D bipedal locomotion via ...

Abstract: The applicability of the H ∞ control technique to a fully actuated 3D biped robot is addressed. In contrast to previous studies, ...

Robust and Versatile Bipedal Jumping Control through Multi-Task ...

This work aims to push the limits of agility for bipedal robots by enabling a torque-controlled bipedal robot to perform robust and ...

Implementation of a Robust Dynamic Walking Controller on a ...

For bipedal robot locomotion, accurate modulation of the. CoP is limited ... motion,” in IEEE-RAS International Conference on Humanoid Robots, pp. 266 ...

NSF Award Search: Award # 1255018 - CAREER: Robust Bipedal ...

From watching Olympic athletes to taking a hike along a dirt path, our experiences demonstrate that biped locomotion provides a highly agile and robust means of ...

Reinforcement Learning for Robust Parameterized Locomotion ...

Locomotion Control of Bipedal Robots. Zhongyu Li, Xuxin Cheng, Xue Bin Peng ... Hurst, “Learning memory-based control for human-scale bipedal locomotion,” arXiv ...

Robust Phase-Space Planning for Agile Legged Locomotion over ...

In IEEE-RAS. International Conference on Humanoid Robots, 2012, pages. 726–733, 2012. [2] Jia-chi Wu and Zoran Popovic. Terrain-adaptive bipedal loco- motion ...

Hybrid Bipedal Locomotion Based on Reinforcement Learning and ...

In recent years, various legged robots are developed for traversing through rough and dangerous terrains and working as a replacement for human ...