Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot

Article Computer Science, Artificial Intelligence

An integrated implicit user preference mining approach for uncertain conceptual design decision-making: A pipeline inspection trolley design case study

Liting Jing et al.

Summary: User preference mining is an important activity in conceptual design, aiming to capture customer attention in the early design stage. Existing methods of preference extraction and assessment rely heavily on design experience and cannot effectively analyze implicit design preferences. To bridge this gap, a new approach utilizing natural language processing and semantic network is proposed to support uncertain conceptual design decision-making.

KNOWLEDGE-BASED SYSTEMS (2023)

添加到收藏夹

Article Engineering, Multidisciplinary

Online Running-Gait Generation for Bipedal Robots with Smooth State Switching and Accurate Speed Tracking

Xiang Meng et al.

Summary: This paper presents an online running-gait generator for bipedal robots which achieves smooth state switching and accurate speed tracking. The robot is represented by a simplified variable-height inverted-pendulum (VHIP) model, considering the fluctuating height nature and computational expediency. To achieve smooth state switching at the beginning and end of running, a segmented zero moment point (ZMP) trajectory optimization is proposed. An iterative algorithm is proposed to compute target footholds for accurate speed tracking during running. Numerical experiments and simulations were conducted to verify the effectiveness of the proposed methods using a position-controlled bipedal robot BHR7P.

BIOMIMETICS (2023)

添加到收藏夹

Article Chemistry, Analytical

Robust Walking for Humanoid Robot Based on Divergent Component of Motion

Zhao Zhang et al.

Summary: An improved model predictive control (MPC) method based on the divergent components of motion (DCM) is proposed in order to enable humanoid robots to walk robustly in the presence of interference. The method simplifies the robot model and plans the gait based on DCM, allowing the center of mass (CoM) to converge to the DCM and simplifying the feedback control process. The proposed MPC controller incorporates an extended Kalman filter (EKF) to track the desired DCM trajectory and compensate for CoM trajectory errors caused by disturbances. Simulation results show improvements compared to the traditional method in both disturbed walking and uneven-terrain walking.

MICROMACHINES (2022)

添加到收藏夹

Article Engineering, Multidisciplinary

Balanced Standing on One Foot of Biped Robot Based on Three-Particle Model Predictive Control

Yong Yang et al.

Summary: This paper proposes a TP-MPC approach combined with WBC to solve the one-foot balancing problem in real time, which demonstrates good performance.

BIOMIMETICS (2022)

添加到收藏夹

Article Chemistry, Analytical

Trajectory Planning of Flexible Walking for Biped Robots Using Linear Inverted Pendulum Model and Linear Pendulum Model

Long Li et al.

Summary: This study introduces a linear pendulum model (LPM) for the double support phase (DSP) to address the walking stability issue caused by the neglect of DSP in the LIPM model. Additionally, various trajectory-planning methods for different scenarios are proposed to allow the biped robot to maintain stability while planning trajectories in real time.

SENSORS (2021)

添加到收藏夹

Article Chemistry, Analytical

Biped Walking Based on Stiffness Optimization and Hierarchical Quadratic Programming

Xuanyang Shi et al.

Summary: The paper introduces a method of real-time optimization using a CoM-velocity feedback controller, constructing a touchdown return map and using nonlinear least squares to optimize spring stiffness. Hierarchical quadratic programming optimization is used for strict task priority, with the dynamic equation given the highest priority, reducing the number of optimizations.

SENSORS (2021)

添加到收藏夹

Article Engineering, Electrical & Electronic