Balance of penalty kicking for a biped robot
01 Dec 2004-Vol. 1, pp 336-340
TL;DR: The performance and applicability of the proposed method are illustrated both through simulation and real-time control of a humanoid robot developed by the Humanoid Group at Singapore Polytechnic.
Abstract: Penalty kicking is a specific task for humanoid robots, which is defined by the robotic soccer community. An effective and powerful kicking is a challenging task because of balance. During the period of kicking, the kicking leg moves very quickly and therefore the dynamics should not be ignored. Furthermore, during the kicking, the center of gravity of the robot moves to the front. These two factors greatly influence the balance of the humanoid robot. In this paper, we keep the robot balanced through adjusting the stance leg's ankle joint, both the dynamics and CG changes are considered. The performance and applicability of the proposed method are illustrated both through simulation and real-time control of a humanoid robot developed by the Humanoid Group (www.robo-erectus.org) at Singapore Polytechnic.
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TL;DR: In this paper, a bipedal exoskeleton suit with eight degrees of freedom was designed to assist over ground gait for paraplegic the person who have suffered from spinal cord injury.
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References
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16 May 1998
TL;DR: Due to its unique posture stability control, the Honda humanoid robot is able to maintain its balance despite unexpected complications such as uneven ground surfaces and to perform simple operations via wireless teleoperation.
Abstract: In this paper, we present the mechanism, system configuration, basic control algorithm and integrated functions of the Honda humanoid robot. Like its human counterpart, this robot has the ability to move forward and backward, sideways to the right or the left, as well as diagonally. In addition, the robot can turn in any direction, walk up and down stairs continuously. Furthermore, due to its unique posture stability control, the robot is able to maintain its balance despite unexpected complications such as uneven ground surfaces. As a part of its integrated functions, this robot is able to move on a planned path autonomously and to perform simple operations via wireless teleoperation.
2,050 citations
Book•
23 Mar 1990
TL;DR: Dynamics of Biped Locomotion, Synthesis of Nominal Dynamics, Control and Stability, and Realization of Anthropomorphic Mechanisms.
Abstract: Contents: Dynamics of Biped Locomotion.- Synthesis of Nominal Dynamics.- Control and Stability.- Realization of Anthropomorphic Mechanisms.- References.- Subject Index.
546 citations
"Balance of penalty kicking for a bi..." refers methods in this paper
...The performance and applicability of the proposcd method are illustrated both through simulation and real-time control of a humanoid robot developed by the Humanoid GTOUp (www.robo-erectus.org) at Singapore Polytechnic....
[...]
TL;DR: In this article, the authors have developed five kinds of biped locomotive robots, named BIPER-1, 2, 3, 4, and 5, which are all statically unstable but can perform a dynamically stable walk with suitable control.
Abstract: The authors have developed five kinds of biped locomotive robots so far. They are named BIPER-1, 2, 3, 4, and 5. All of them are statically unstable but can perform a dynamically stable walk with suitable control. BIPER-1 and BIPER-2 walk only sideways. BIPER-3 is a stilt-type robot whose foot contacts occur at a point and who can walk sideways, back ward, and forward. BIPER-4's legs have the same degrees of freedom as human legs. BIPER-5 is similar to BIPER-3, but in the case of BIPER-5 all apparatus, such as the computer, are mounted on it.This paper deals with the control theory used for BIPER-3 and BIPER-4. In both cases, basically the same control method is applied. The most important point is that the mo tion of either robot during the single-leg support phase can be approximated by the motion of an inverted pendulum. Ac cordingly, in this paper, dynamic walk is considered to be a series of inverted-pendulum motions with appropriate condi tions of connection.
475 citations
"Balance of penalty kicking for a bi..." refers methods in this paper
...The performance and applicability of the proposcd method are illustrated both through simulation and real-time control of a humanoid robot developed by the Humanoid GTOUp (www.robo-erectus.org) at Singapore Polytechnic....
[...]
167 citations
"Balance of penalty kicking for a bi..." refers methods in this paper
...The performance and applicability of the proposcd method are illustrated both through simulation and real-time control of a humanoid robot developed by the Humanoid GTOUp (www.robo-erectus.org) at Singapore Polytechnic....
[...]
01 May 1984
TL;DR: Digital computer simulations of toe landing are presented and the action of plantar fascia during toe landing is represented by a spring and dashpot pair.
Abstract: A biped system is subjected to an instant velocity change at the moment of impact with the environment. This instant velocity change is derived as a function of the biped state and the contact speed. The effects of the impact on the state, as well as on the constraints, are studied in biped landing on heels and toes simultaneously or on toes first. The control strategy that is called for in this case is zero final velocities and a somewhat arbitrary final position. Rate feedback and nonlinear position feedback are used for stability. The action of plantar fascia during toe landing is represented by a spring and dashpot pair. The arch of the foot is prevented by this action from collapsing. Digital computer simulations of toe landing are presented.
88 citations
"Balance of penalty kicking for a bi..." refers background or methods in this paper
...However, the planning did not consider the dynamics of the robot and the stable region is limited....
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...The performance and applicability of the proposcd method are illustrated both through simulation and real-time control of a humanoid robot developed by the Humanoid GTOUp (www.robo-erectus.org) at Singapore Polytechnic....
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