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Showing 1 to 20 of 26 for “"Bipedal Locomotion"”.
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Robust bipedal locomotion on unknown terrain
A wide variety of bipedal robots have been constructed with the goal of achieving natural and efficient walking in outdoor environments. Unfortunately, there is still a lack of general schemes enabling the robots to reject terrain disturbances. In this thesis, two approaches are presented to …
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Modelling Bipedal Locomotion Using Wavelets for Figure Animation
The thesis addresses the problem of how to develop a motion-modelling approach that can produce motion that is not only believable but also expressive and individual. In recent years motion capture techniques have been widely used for creating realistic animation of articulated figures. The realism …
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Inductive Biases in Learning Hierarchical Abstractions for Bipedal Locomotion
Bipedal locomotion presents a complex challenge in the field of reinforcement learning (RL), due to the high dimensional state and action space. Hierarchical abstractions and inductive biases emerge as critical components in navigating this complexity, offering pathways for effective learning and …
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Stability analysis and control for bipedal locomotion using energy methods
In this thesis, we investigate the stability of limit cycles of passive dynamic walking. The formation process of the limit cycles is approached from the view of energy interaction. We introduce for the first time the notion of the energy portrait analysis originated from the phase portrait. The …
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Geometric control and motion planning for three-dimensional bipedal locomotion
… approach for fast and energetically efficient bipedal dynamic walking in three-dimensional (3-D) space to enable motion planning applications that have previously been limited to inefficient quasi-static walkers. In order to produce exponentially stable hybrid limit cycles, we exploit system …
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Comparative Digital Examination of the Talocrural (ankle) Joint Provides Insight into Human bipedal locomotion
Locomotion strategies across human evolution are a prominent topic of discussion. The talocrural joint, a major weight-bearing ankle joint, is a feature of this discussion since all animals, including humans and our ancestors, have different functional requirements depending on locomotor modality. …
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Computer modelling of the development of the trabecular architecture in the human pelvis
… the principal strain trajectories induced during bipedal locomotion. Ontogenetic studies of the juvenile pelvis have observed that trabecular bone growth becomes progressively ordered from an initial randomised patterning. This has lead to theories linking the gradual structural optimisation of …
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Stable locomotion control of bipedal walking robots : synchronization with neural oscillators and switching control
Two novel approaches to stable legged locomotion control (neural-oscillator based control and switching control) are studied for achieving bipedal locomotion stability. Postural stability is realized by structural dynamics shaping, and gait stability is achieved by synchronization with neural …
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Development of an Omni-directional Gait Generator and a Stabilization Feedback Controller for Humanoid Robots
Bipedal locomotion in humanoid robots is a very challenging problem within the field of robot locomotion. In this thesis, we propose and demonstrate an omni-directional walking engine that achieves stable walking using feedback from an inertial measurement unit. Our walking engine generates gaits …
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Design and implementation of series elastic actuation in a biomorphic robot leg
Fluid, efficient, robust bipedal locomotion is hard by some approaches. Today's most advanced bipedal robots require flat and level floors, but are still prone to trips and falls. They have trouble interacting with objects in their surroundings, and adapting to them. We think that new approaches …
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A qualitative and quantitative investigation of structural morphology in the neonatal ilium
… to the remodeling forces generated during bipedal locomotion. However, during the neonatal period the pelvic complex is non-load bearing, therefore, structural organisation of the ilium cannot reflect direct stance related forces. This study considers the cortical and trabecular bone …
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Mechanical engineering challenges in humanoid robotics
… engineering. The challenge of emulating human bipedal locomotion on a robotic platform is reviewed in the context of the evolutionary origins of human bipedalism and the biomechanics of walking and running. Precise joint angle control bipedal robots and passive-dynamic walkers, the two most …
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Design and Control of a Structurally Elastic Humanoid Robot
… planner towards spatial objective planning for bipedal locomotion.
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Pelvic Shape, Hip Abductor Mechanics and Locomotor Energetics in Extinct Hominins and Modern Humans
Habitual bipedal locomotion in hominins required major alterations in pelvic shape, particularly the recruiting of the minor gluteal muscles to act as abductors, stabilizing the pelvis during walking and running. However, significant disagreement has emerged regarding the effect of variation in …
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Upper Body Design of a Humanoid Robot for the DARPA Robotics Challenge
… and researchers for years. Development of the bipedal walking necessary for humanoid robots began in earnest in the late 60's with research in Europe and Japan. The the unique challenges of a bipedal locomotion led to initial robots keeping power, computation, and perception systems off-board …
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Bipedal Walking for a Full Size Humanoid Robot Utilizing Sinusoidal Feet Trajectories and Its Energy Consumption
… robots, and to research a simple but reliable bipedal walking method. Since the debut of Wabot from Waseda University in 1973, several full-sized humanoid robots have been developed around the world that can walk, and run. Although various humanoid robots have successfully demonstrated their …
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Safe Model Predictive Control for Robotic Manipulation and Locomotion
… the problem of generating versatile and stable locomotion for quadruped robots. In full-body dynamics MPC, reference trajectories are typically provided for the Center of Mass of the robot and swing feet. These references may limit the robot's adaptability to unforeseen situations. We propose a …
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Bipedal robot walking control using human whole-body dynamic telelocomotion
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2023-12-04 without embargo terms
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Human whole-body dynamic telelocomotion of humanoid robots
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-20 without embargo terms
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Design and Control of a Humanoid Robot, SAFFiR
… to achieve the research goals of improving the locomotion capabilities of a humanoid robot. To improve the physical performance capabilities of the robot, this research will first focus on the interaction between the hip and knee actuators. It is shown that much like the human body, a biped …
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