In the unstructured family environment, robots are expected to provide various services to improve the quality of human life, based on the performance of specific action sequences generated by service planning. This paper focuses on one of the greatest challenges in service planning that is aimed at accomplishing the service tasks by generating appropriate object sequences to guide the robot on searching the corresponding target objects efficiently and reasonably. A well-structured knowledge-based framework of object search is proposed in our approach as well as taking into account the multi-domain knowledge of applying object, scene, and service in design. In order to improve the searching efficiency and reasonability, an ontology-based hierarchical and interrelated knowledge structure is formed to support the implementation of complicated service planning with either single or multiple tasks. The proposed framework is tested by comprehensive experiments, and the performance is evaluated with other mainstream methods in both simulation and real-world environments. The experimental results demonstrate the feasibility and effectiveness of applying this knowledge-based framework to efficient object searching aspect in service planning. 

Service planning oriented efficient object search: A knowledge-based framework for home service robot

In the unstructured family environment, robots are expected to provide various services to improve the quality of human life, based on the performance of specific action sequences generated by service planning. This paper focuses on one of the greatest challenges in service planning that is aimed at accomplishing the service tasks by generating appropriate object sequences to guide the robot on searching the corresponding target objects efficiently and reasonably. A well-structured knowledge-based framework of object search is proposed in our approach as well as taking into account the multi-domain knowledge of applying object, scene, and service in design. In order to improve the searching efficiency and reasonability, an ontology-based hierarchical and interrelated knowledge structure is formed to support the implementation of complicated service planning with either single or multiple tasks. The proposed framework is tested by comprehensive experiments, and the performance is evaluated with other mainstream methods in both simulation and real-world environments. The experimental results demonstrate the feasibility and effectiveness of applying this knowledge-based framework to efficient object searching aspect in service planning.

Abstract Day by day, biped robots’ usage is increasing enormously in all industrial and non-industrial applications due to their ability to move in any unstructured environment compared to wheeled robots. Keeping this in mind, worldwide, many researchers are working on various aspects of biped robots, such as gait generation, dynamic balance margin, and the design of controllers. The main aim of this review article is to discuss the main challenges encountered in the biped gait generation and design of various controllers while moving on different terrain conditions such as flat, ascending and descending slopes or stairs, avoiding obstacles/ditches, uneven terrain, and an unknown environment. As per the authors’ knowledge, no single study has been carried out in one place related to the gait generation and design of controllers for each joint of the biped robot on various terrains. This review will help researchers working in this field better understand the concepts of gait generation, dynamic balance margin, and the design of controllers while moving on various terrains. Moreover, the current article will also cover the different soft computing techniques used to tune the gains of the controllers. In this article, the authors have reviewed a vast compilation of research work on the gait generation of the biped robot on various terrains. Further, the authors have proposed taxonomies on various design issues identified while generating the gait in different aspects. The authors reviewed approximately 296 articles and discovered that all researchers attempted to generate the dynamically balanced biped gait on various terrains. 

A review on gait generation of the biped robot on various terrains

Abstract Day by day, biped robots’ usage is increasing enormously in all industrial and non-industrial applications due to their ability to move in any unstructured environment compared to wheeled robots. Keeping this in mind, worldwide, many researchers are working on various aspects of biped robots, such as gait generation, dynamic balance margin, and the design of controllers. The main aim of this review article is to discuss the main challenges encountered in the biped gait generation and design of various controllers while moving on different terrain conditions such as flat, ascending and descending slopes or stairs, avoiding obstacles/ditches, uneven terrain, and an unknown environment. As per the authors’ knowledge, no single study has been carried out in one place related to the gait generation and design of controllers for each joint of the biped robot on various terrains. This review will help researchers working in this field better understand the concepts of gait generation, dynamic balance margin, and the design of controllers while moving on various terrains. Moreover, the current article will also cover the different soft computing techniques used to tune the gains of the controllers. In this article, the authors have reviewed a vast compilation of research work on the gait generation of the biped robot on various terrains. Further, the authors have proposed taxonomies on various design issues identified while generating the gait in different aspects. The authors reviewed approximately 296 articles and discovered that all researchers attempted to generate the dynamically balanced biped gait on various terrains.

K Hari Teja

Papers

Optimal whole-body motion planning of humanoids in cluttered environments