Soft computing-based gait planners for a dynamically balanced biped robot negotiating sloping surfaces

Applied Soft Computing Journal

Volumn 9, Issue 1, 2009, Pages 191-208

  Vundavilli, Pandu Ranga ^a   Pratihar, Dilip Kumar ^a  

^a INDIAN INSTITUTE OF TECHNOLOGY   (India)

Author keywords

Ascending and descending gaits; Biped robot; Genetic fuzzy system; Genetic neural system; Sloping surface

Indexed keywords

COMPUTER SYSTEMS; FUZZY LOGIC; GAIT ANALYSIS; INDUSTRIAL ROBOTS; NETWORK PROTOCOLS; NEURAL NETWORKS; OPTIMIZATION; PROGRAMMABLE ROBOTS; ROBOTICS; ROBOTS; SENSOR NETWORKS; SOFT COMPUTING;

ASCENDING AND DESCENDING GAITS; BIPED ROBOT; GENETIC-FUZZY SYSTEM; GENETIC-NEURAL SYSTEM; SLOPING SURFACE;

GENETIC ALGORITHMS;

EID: 53749108193     PISSN: 15684946     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.asoc.2008.04.004     Document Type: Article

References (27)

1. Vukobratovic M., Frank A.A., and Juricic D. On the stability of biped locomotion. IEEE Trans. Biomed. Eng. 17 (January)1 (1970) 25-36
2. Juricic D., and Vukobratovic M. Mathematical Modeling of Biped Walking Systems (1972), ASME Publication 72-WA/BHF13
3. Y.J. Seo, Y.S. Yoon, Design of a robust dynamic gait of the biped using the concept of dynamic stability margin, Robotica 13, Cambridge University Press (1995) 461-468.
4. Silva F.M., and Tenreiro Machado J.A. Towards efficient biped robots. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. Victoria, BC, Canada, October (1998) 394-399
5. Goswami A. Foot rotation indicator (FRI) point: a new gait planning tool to evaluate postural stability of biped robots. Proceedings of IEEE International Conference on Robotics & Automation. Detroit, Michigan, May (1999) 47-52
6. Lum H.K., Zribi M., and Soh Y.C. Planning and control of a biped robot. Int. J. Eng. Sci. 37 (1999) 1319-1349
7. Plestan F., Jessy W.G., Westervelt R., and Gabrial A. Stable walking of a 7-DoF biped robot. IEEE Trans. Robot. Autom. 19 (August)4 (2003) 653-668
8. Zheng Y.F., Shen J., and Sias F.R. A motion control scheme for a biped robot to climb sloping surfaces. Proceedings of IEEE International Conference on Robotics & Automation (1998) 814-816
9. Zheng Y.F., and Shen J. Gait synthesis for the SD-2 biped robot to climb slopping surface. IEEE Trans. Robot. Autom. 6 (February)1 (1990) 86-96
10. Kajita S., and Tani K. Study of dynamic biped locomotion on rugged terrain-derivation and application of the linear inverted pendulum mode. Proceedings of IEEE International Conference on Robotics & Automation. Sacramento, California, April (1991) 1405-1411
11. Boone G.N., and Hodgins J.K. Slipping and tripping reflexes for bipedal robots. Autonom. Robots 4 (1997) 259-271
12. Shih C.L., and Chiou C.J. The motion control of a statically stable biped robot on an uneven floor. IEEE Trans. Syst. Man Cybern. B: Cybernetics 28 (April)2 (1998) 244-249
13. Ono T., Murakami T., and Ohnishi K. An approach to biped robot control according to surface condition of ground. IEEE International Workshop on Advanced Motion Control. Coimbra, June 29-July 1 (1998) 129-134
14. Pratt J., Chew C.M., Torres A., Dilworth P., and Pratt G. Virtual model control: an intuitive approach for bipedal locomotion. Int. J. Robot. Res. 20 2 (2001) 129-143 Feb
15. Zhou C., Yue P.K., Ni J., and Chan S.B. Dynamically stable gait planning for a humanoid robot to climb sloping surface. Proceedings of IEEE Conference on Robotics, Automation and Mechatronics. Singapore, December 1-3 (2004) 341-346
16. Kim J.Y., Park I.W., and Oh J.H. Walking control algorithm of biped humanoid robot on uneven and inclined floor. J. Int. Robot Syst. 48 (2007) 457-484
17. Salatian A.W., and Zheng Y.F. Gait synthesis for a biped robot climbing sloping surfaces using neural networks. Part I. Static learning. Proceedings of IEEE International Conference on Robotics and Automation. Nice, France, May (1992) 2601-2606
18. Salatian A.W., and Zheng Y.F. Gait synthesis for a biped robot climbing sloping surfaces using neural networks. Part II. Dynamic learning. Proceedings of IEEE International Conference on Robotics and Automation. Nice, France, May (1992) 2607-2611
19. Miller III W.T. Real-time neural network control of a biped walking robot. IEEE Control Syst. 14 February (1994) 41-48
20. Salatian A.W., Yi K.Y., and Zheng Y.F. Reinforcement learning for a biped robot to climb sloping surface. J. Robot. Syst. 14 4 (1997) 283-296
21. Juang J.G. Intelligent locomotion control on sloping surfaces. Inform. Sci. 147 (2002) 229-243
22. Jha R.K., Singh B., and Pratihar D.K. Online stable gait generation of a two-legged robot using a genetic-fuzzy system. Robot. Autonom. Syst. 53 (2005) 15-35
23. Vundavilli P.R., Sahu S.K., and Pratihar D.K. Dynamically balanced ascending and descending gaits of a two-legged robot. Int. J. Hum. Robot. 4 4 (2007) 717-751
24. Vundavilli P.R., Sahu S.K., and Pratihar D.K. On-line dynamically balanced ascending and descending gaits of a biped robot using soft computing. Int. J. Hum. Robot. 4 4 (2007) 777-814
25. P.R. Vundavilli, D.K. Pratihar, Dynamically balanced gaits of a two-legged robot on sloping surface, Robotica, submitted for publication.
26. Fu K.S., Ganzalez R.C., and Lee C.S.G. ROBOTICS Control, Sensing, Vision and Intelligence (1987), McGraw-Hill International Edition, Industrial Engineering Series
27. Mamdani E.H., and Assilian S. An experiment in linguistic synthesis with a fuzzy logic controller. Int. J. Man Mach. Stud. 7 (1975) 1-13