Humanoid Robot Cooperative Motion Control Based on Optimal Parameterization

Article Robotics

Dynamic walking of humanoid robot on flat surface using amplified LIPM plus flywheel model

Abhishek Kumar Kashyap et al.

Summary: The paper attempts to produce a robust walking gait using an ALO-tuned linear inverted pendulum model plus flywheel, which is further optimized during interaction with obstacles. The proposed method has been successfully tested and proven to be robust and effective.

INTERNATIONAL JOURNAL OF INTELLIGENT UNMANNED SYSTEMS (2022)

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Article Automation & Control Systems

Cooperative step-climbing strategy using an autonomous wheelchair and a robot

Hidetoshi Ikeda et al.

Summary: This report introduces an automatic control system that allows an assistive robot to help push a wheelchair up stairs. By mimicking the actions of a human pushing a wheelchair up stairs, the system improves convenience and safety. Experimental validation showed that the system performs well at a certain step height and friction coefficient.

ROBOTICS AND AUTONOMOUS SYSTEMS (2021)

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Article Engineering, Multidisciplinary

Multiphase Trajectory Generation for Planar Biped Robot Using Direct Collocation Method

Yubin Liu et al.

Summary: This paper focuses on stability and energy efficiency in bipedal robots, proposing a multiphase gait to improve stability during transitions. Numerical simulations show that the multiphase gait offers better stability but slightly reduces energy efficiency, while also demonstrating human-like characteristics in walking posture variations.

MATHEMATICAL PROBLEMS IN ENGINEERING (2021)

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Article Automation & Control Systems