Gaits of humanoids

Gaits of humanoids

Updated: 19 December 2014 - 11:59am by C. Balaguer

The research in stable walking of humanoid robots is in general non-solved problem. Our research deals with the implementation of stable gait on 12 DOF Rh-0 and Rh-1 bipedal locomotion system.

Otherwise, a generic gait was developed and implemented successfully, in the HRP-2 humanoid robot. It is called "Acyclic Gait". This gait consists in make the dynamic transition between two statically stable stages. The results have been presented in the IROS '08 (M. Arbulu et. al.). You could see some tests:

Videos of Acyclic motion

Fig.1 Two Acyclic steps forward

Fig.2 One Acyclic step backward

Journal Publications

Publication
Journal Real-Time Gait Planning for Rh-1 Humanoid Robot Using Local Axis Gait Algorithm International Journal of Humanoid Robotics. Print ISSN: 0219-8436. Online ISSN: 1793-6942. num. 1, vol. 6, pages: 71 - 91, 2009 M. Arbulu, C. Balaguer
Journal The Rh-1 full-size humanoid robot: design, walking pattern generation and control Journal of Applied Bionics and Biomechanics (Print ISSN: 1176-2322, Online: ISSN: 1754-2103). num. 3, vol. 6, pages: 301 - 344, 2009 M. Arbulu, D. Kaynov, L.M. Cabas, C. Balaguer

Conference Publications

Conference

Aiming for Multibody Dynamics on Stable Humanoid Motion with Special Euclidean Groups

Conference

Realización de tareas colaborativas entre robots humanoides. Experimentación con dos robots Robonova

Conference

Foot planning motion of humanoid robot Rh-1 using Lag algorithm

Conference

Nuevas tendencias en plataformas de robótica, caso robot humanoide Rh-1

Conference

Trends of new robotics platform, designing Humanoid Robot Rh-1

Conference

User friendly graphical environment for gait optimization of the humanoid robot Rh-0

Conference

Inverse Dynamics of Humanoid Robot by Balanced Mass Distribution Method

Conference

Fast algorithm for kinematics problems solving of the low-cost legged robot LEROI

Conference

Optimal gait synthesis of biped robot pasibot using artificial intelligence based predictive control

Conference

Humanoid Robot Kinematics Modeling Using Lie Groups

Conference

Control de la caminata del robot humanoide RH-1

Conference

Aiming for multibody dynamics on stable humanoid motion with Special Euclideans groups, called SE(3) (Accepted)

Conference

Rh-0 Humanoid Robot Bipedal Locomotion and Navigation Using Lie Groups and Geometric Algorithms

Conference

Rh-0 humanoid full size robot`s control strategy based on the Lie logic technique

Conference

Real -Time gait planning for Rh-1 humanoid robot, using Local Axis Gait algorithm

Conference

K., Yokoi, A., Kheddar, C., BalaguerDynamic acyclic motion from a planar contact-stance to another

Publication
Conference Aiming for Multibody Dynamics on Stable Humanoid Motion with Special Euclidean Groups 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS2010, Monday, 18 October, 2010, Taipei, China M. Arbulu, S. Martinez, A. Jardon, C.A. Monje, C. Balaguer
Conference Realización de tareas colaborativas entre robots humanoides. Experimentación con dos robots Robonova 5º Workshop Robocity 2030: Cooperación en Robótica, Sunday, 1 February, 2009, Madrid, M. González-Fierro, D. Herrero, P. Pierro, A. Jardon, C. Balaguer
Conference Foot planning motion of humanoid robot Rh-1 using Lag algorithm Clawar 2007, Wednesday, 18 July, 2007, Singapore, Singapore M. Arbulu, D. Kaynov, L.M. Cabas, P. Staroverov, C. Balaguer
Conference Nuevas tendencias en plataformas de robótica, caso robot humanoide Rh-1 Intercon 2007XIV Congreso Internacional de Ingeniería Eléctrica, Electrónica y Sistemas, Wednesday, 8 August, 2007, Piura, Peru M. Arbulu, D. Kaynov, L.M. Cabas, P. Staroverov, C. Balaguer
Conference Trends of new robotics platform, designing Humanoid Robot Rh-1 CARS & FOF 0723rd ISPE International Conference on CAD/CAM Robotics and Factories of the Future, Friday, 17 August, 2007, Bogota, Colombia M. Arbulu, D. Kaynov, L.M. Cabas, P. Staroverov, C. Balaguer
Conference User friendly graphical environment for gait optimization of the humanoid robot Rh-0 7tn International Conference on Climbing and Walking Robots (Clawar'2004), Saturday, 25 September, 2004, Madrid, Spain M. Arbulu, P. Staroverov, C. Balaguer
Conference Inverse Dynamics of Humanoid Robot by Balanced Mass Distribution Method IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2004), Tuesday, 28 September, 2004, Sendai, Japan M. Arbulu, C. Balaguer
Conference Fast algorithm for kinematics problems solving of the low-cost legged robot LEROI Clawar 2002, Thursday, 26 September, 2002, Paris, France M. Arbulu, P. Staroverov, C. Balaguer
Conference Optimal gait synthesis of biped robot pasibot using artificial intelligence based predictive control 12th International Conference on Climbing and Walking Robots (Clawar'09), Wednesday, 9 September, 2009, Istanbul, J.G. Quijano, A. Jardon
Conference Humanoid Robot Kinematics Modeling Using Lie Groups 7th International Conference on Climbing and Walking Robots (Clawar'2004), Thursday, 23 September, 2004, Madrid, Spain J. M. Pardos-Gotor, C. Balaguer
Conference Control de la caminata del robot humanoide RH-1 XXIX Jornadas de Automática, Wednesday, 3 September, 2008, Tarragona, Spain M. Arbulu, D. Kaynov, L.A. Pabon, P. Pierro, C. Perez, P. Staroverov, C.A. Monje, C. Balaguer
Conference Aiming for multibody dynamics on stable humanoid motion with Special Euclideans groups, called SE(3) (Accepted) 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Monday, 18 October, 2010, Taipei, Taiwan M. Arbulu, S. Martinez, A. Jardon, C.A. Monje, C. Balaguer
Conference Rh-0 Humanoid Robot Bipedal Locomotion and Navigation Using Lie Groups and Geometric Algorithms International Conference on Intelligent Robots and Systems (IROS'2005), Tuesday, 2 August, 2005, Edmonton, Canada J. M. Pardos-Gotor, C. Balaguer
Conference Rh-0 humanoid full size robot`s control strategy based on the Lie logic technique IEEE-RAS International Conference on Humanoid Robots (Humanoids'2005), Tuesday, 6 December, 2005, Tsukuba, Japan M. Arbulu, D. Kaynov, J. M. Pardos-Gotor, P. Staroverov, C. Balaguer
Conference Real -Time gait planning for Rh-1 humanoid robot, using Local Axis Gait algorithm IEEE-RAS International Conference on Humanoid Robots (Humanoids'2007), Thursday, 29 November, 2007, Pittsburg-Pensi, USA M. Arbulu, C. Balaguer
Conference K., Yokoi, A., Kheddar, C., BalaguerDynamic acyclic motion from a planar contact-stance to another IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, Monday, 22 September, 2008, Nice, France M. Arbulu