In this paper, an oscillator-based gait pattern with sinusoidal functions is designed and implemented on a field-programmable gate array (FPGA) chip to generate a trajectory plan and achieve bipedal locomotion for a small-sized humanoid robot. In ord...
Bipedal locomotion remains one of the major open challenges of humanoid robotics. The common approaches are based on simple reduced model dynamics to generate walking trajectories, often neglecting the whole-body dynamics of the robots. As motions in...
The gait and the Foot Placement Estimation (FPE) has recently been extended to 3-D spaces by adopting a specific form of a spherical inverted pendulum (SIP). The approach is very attractive, as it does not involve dynamics, but it is based solely on...
Currently, there is an intensive development of bipedal walking robots. The most known solutions are based on the use of the principles of human gait created in nature during evolution. Modernbipedal robots are also based on the locomotion manners of...
This paper extends the three-dimensional inverted pendulum (spherical inverted pendulum or SIP) in a polar coordinate system to simulate human walking in free fall and the energy recovery when the foot collides with the ground. The purpose is to prop...
People have been fascinated with humanoid robots for over two decades. They are expected to assist and collaborate with humans in the future. However, due to the limitations and complications of bipedal humanoids’ walking mechanisms, this goal...
Achieving stable bipedal locomotion for humanoid robots remains a central challenge in reinforcement learning (RL), in which the design of reward functions is pivotal but non-trivial. This paper proposes a three-tier statistical reward shaping framew...
This paper presents the mechanical design and experimental evaluation of the biped unit of LARMbot V.3—a compact low-cost humanoid robot for educational and research purposes. The biped unit features a modular architecture with a parallel leg m...
Regardless of recent advances, humanoid robots still face significant difficulties in performing locomotion tasks. Among the key challenges that must be addressed to achieve robust bipedal locomotion are dynamically consistent motion planning, feedba...
Bipedal humanoid robots are expected to play a major role in the future. Performing bipedal locomotion requires high energy due to the high torque that needs to be provided by its legs’ joints. Taking the WABIAN-2R as an example, it uses harmonic gea...
Achieving energy-efficient, human-like gait remains a major challenge in bipedal humanoid robotics, as traditional serial actuation architectures often lead to high instantaneous power peaks and uneven load distribution. This study addresses the lack...
Achieving dynamic stability in bipedal locomotion against sustained external disturbances remains a significant challenge in humanoid robotics. Traditional methods, such as zero moment point (ZMP) preview control, often lack the reactive compliance a...
This paper proposes a Stein Variational Gradient Descent (SVGD) solution framework for Model Predictive Control (MPC) to enhance robustness in bipedal locomotion. While conventional simplified rigid-body dynamics (SRBD) based MPC with deterministic s...
With advancements in bipedal locomotion for humanoid robots, a critical challenge lies in generating gaits that are bounded to ensure stable operation in complex environments. Traditional Model Predictive Control (MPC) methods based on Linear Inverte...
This paper investigates the locomotion of bipedal robots, with a focus on knee-extended walking. While knee joint extension is essential for efficient human walking, humanoid robots face challenges such as pose singularities, and traditional control...