A Novel Paradigm for Controlling Navigation and Walking in Biped Robotics

Round 1

Reviewer 1 Report

Comments and Suggestions for Authors

This paper uses a three-dimensional inverted pendulum (spherical inverted pendulum) in a polar coordinate system to introduce omnidirectional walking with arbitrary characteristics to simulate human walking in free fall and the energy recovery when the foot collides with the ground. The innovation lies in not using torque control, i.e., the position is always in free fall at each step, and at the beginning of a new step, changes relative to the angular velocity given after the collision to compensate for the loss and prepare the front and sagittal position of the swinging foot for the next collision. However, the thesis is lacking in considering the stability of biped robots during walking, that is, how to realize the balance control of the whole walking process. There are also many typos/errors in the equations that need to be corrected before the final submission.

 

1.     The paper’s abstract should give the purpose, method, experimental conclusion, etc.

2.     How to design the controller K taken in Figure 1? How stable is it? Given that the reference input is gait planning, how do I get to the length of the supporting leg?

3.     Many factors need to be considered in the whole walking process of the walking robot, especially the cooperative movement between the two feet. In this paper, only the length control of the supporting foot is considered.

4.     In Section 3, how is gait planning related to key issues such as energy recovery and arbitrary change?

5.     How do we obtain the vertical axis's total energy and angular momentum in straight walking and stair ascent, as shown in Figure 2-4?

6.     How to design the force control system of a Bipedal walking robot (line 192).

Author Response

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Author Response File: Author Response.pdf

Reviewer 2 Report

Comments and Suggestions for Authors

This study aimed at the development of gait control of the biped robot. Here are some comments for the authors: 

1. Abstract had better to represent the research briefly and completely, focus on the contribution of the research.

2. We may concern the gait cycle of this 3-joint robot, It was suggested the gait diagram reveals each phases in one cycle.

3. Torque support is a key point for gait, thereby the momentum and energy consumption of each joint should be presented. Some comparison between other models was also suggested.

4. Appendix was suggested to reveal in the introduction and make it a brief and related content.

 

Comments on the Quality of English Language

could be better

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Round 2

Reviewer 1 Report

Comments and Suggestions for Authors

All my comments have been property accommodated.

Author Response

Thank you very much for your valuable comments

Reviewer 2 Report

Comments and Suggestions for Authors

All the comments replied and explained clearly.

Author Response

Thank you very much for your valuable comments