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Journal Article 6

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3-UPU parallel manipulator 1

Adaptive control law 1

Dynamic balance 1

Event-based feedback controller 1

Gait transition 1

Underactuated running biped 1

Underactuated three-dimensional biped 1

Varied and unknown terrain 1

biped jumping 1

biped locomotor 1

biped robot 1

biped robots 1

biped walking 1

characterization 1

dynamic simulation 1

feasibility study 1

human locomotion 1

humanoid robot 1

jumping motion generation 1

leg mechanisms 1

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Planar jumping with stable landing through foot orientation design and ankle joint control

Qilong YUAN, I-Ming CHEN

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2, Pages 100-108 doi: 10.1007/s11465-012-0318-3

Abstract:

This paper introduces a method to generate the planar jumping motion for biped robot.Jumping motion with stable landing is achieved in a dynamic simulation environment based on this method

Keywords： biped jumping stable landing control jumping motion generation

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Stability and agility: biped running over varied and unknown terrain

Yang YI,Zhi-yun LIN

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 4, Pages 283-292 doi: 10.1631/FITEE.1400284

Abstract: We tackle the problem of a biped running over varied and unknown terrain.Running is a necessary skill for a biped moving fast, but it increases the challenge of dynamic balance, especially when a biped is running on varied terrain without terrain information (due to the difficultyA five-link biped with underactuated point foot is considered in simulations.

Keywords： Underactuated running biped Dynamic balance Varied and unknown terrain

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A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2, Pages 144-158 doi: 10.1007/s11465-016-0391-0

Abstract:

A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor isThe biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallelPlanning of the biped walking gait is performed by coordinating the motions of the two leg mechanismsSimulation results show that the proposed biped locomotor with proper input motions of linear actuatorsof the biped walking gait of the proposed locomotor.

Keywords： feasibility study biped locomotor biped walking mechanical design dynamic simulation tripod leg mechanism

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Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

Conghui LIANG, Marco CECCARELLI, Yukio TAKEDA

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 4, Pages 357-370 doi: 10.1007/s11465-012-0340-5

Abstract: analysis of a Chebyshev-Pantograph leg mechanism is presented for a single degree of freedom (DOF) bipedA prototype of a single DOF biped robot equipped with two proposed leg mechanisms has been built at LARM

Keywords： biped robots leg mechanisms simulation

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An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 1, Pages 95-103 doi: 10.1007/s11465-013-0357-4

Abstract:

In this paper, an experimental analysis of human straight walking has been presented. Experiments on human walking were carried out by using Cassino tracking system which is a passive cable-based measuring system. This system is adopted because it is capable of both pose and wrench measurements with fairly simple monitoring of operation. By using experimental results, trajectories of a human limb extremity and its posture have been analyzed; forces that are exerted against cables by the limb of a person under test have been measured by force sensors as well. Furthermore, by using experimental tests, modeling and characterization of the human straight walking gait have been proposed.

Keywords： human locomotion walking gait characterization humanoid robot biped robot

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Control strategy for gait transition of an underactuated 3Dbipedal robot Research Articles

Hai-hui YUAN, Yi-min GE, Chun-biao GAN

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 8, Pages 1026-1035 doi: 10.1631/FITEE.1800206

Abstract: Significant research interest has recently been attracted to the study of bipedal robots due to the wide variety of their potential applications. In reality, bipedal robots are often required to perform gait transitions to achieve flexible walking. In this paper, we consider the gait transition of a five-link underactuated three-dimensional (3D) bipedal robot, and propose a two-layer control strategy. The strategy consists of a unique, event-based, feedback controller whose feedback gain in each step is updated by an adaptive control law, and a transition controller that guides the robot from the current gait to a neighboring point of the target gait so that the state trajectory can smoothly converge to the target gait. Compared with previous works, the transition controller is parameterized and its control parameters are obtained by solving an optimization problem to guarantee the physical constraints in the transition process. Finally, the effectiveness of the control strategy is illustrated on the underactuated 3D bipedal robot.

Keywords： Gait transition Underactuated three-dimensional biped Event-based feedback controller Adaptive control