Application of a JXTA-Overlay P2P Control System for a Biped Walking Robot

2010 ◽  
Author(s):  
Keita Matsuo ◽  
Yuichi Ogata ◽  
Evjola Spaho ◽  
Fatos Xhafa ◽  
Leonard Barolli
Keyword(s):  
Control System ◽  
Walking Robot ◽  
Biped Walking ◽  
Biped Walking Robot

Modeling and Control System Simulation for 7-Link Biped Robot

2013 ◽  
Vol 431 ◽  
pp. 262-268
Author(s):  
Chuang Feng Huai ◽  
Xue Yan Jia
Keyword(s):  
Control System ◽  
Dynamic Models ◽  
Biped Robot ◽  
Stable Region ◽  
Walking Robot ◽  
Biped Walking ◽  
Modeling And Control ◽  
Ground Conditions ◽  
Biped Walking Robot ◽  
And Control

Walking robot has complicate structure and strong ability to adapt ground conditions, and it is difficult to control. To realize dynamic walking of the humanoid robot, we have to establish robot dynamic models, design the control algorithm for gait and the stability postures. In this paper, study dynamic model and control system of a 7-links biped robot, build parameterized simulation model of biped walking robot, proceed gait planning and simulation experiments in the simulation surrounding, and get some experiment results. Compare the experiment data with the theoretic stable region and confirm that the biped walking robot as leg mechanism has good stability of static walking, and provide theoretic and data information for further work.

3D Printed Biped Walking Robot

2015 ◽  
Vol 772 ◽  
pp. 477-481 ◽  
Author(s):  
Tadeusz Mikolajczyk ◽  
Alberto Borboni ◽  
Xian Wen Kong ◽  
Tomasz Malinowski ◽  
Adrian Olaru
Keyword(s):  
Control System ◽  
Degree Of Freedom ◽  
Prototype Model ◽  
Walking Robot ◽  
Biped Walking ◽  
Flat Surfaces ◽  
Simple Idea ◽  
Centre Of Gravity ◽  
3D Printed ◽  
Biped Walking Robot

The purpose of this paper is not to elaborate the bionic pattern of walking robot, but to elaborate our own simple idea of a 4 degree of freedom (DOF) walking robot with the ability to walk on flat surfaces, rotate and climbing upstairs, which is composed of vertical moved legs with a rotary foot and a controlled mass for stabilizing. In this paper, based on the former idea, a prototype model of a 3-DOF walking robot is presented for walking only on flat surfaces. This walking robot is actuated by servo motors. The paper covers the kinematics, centre of gravity analysis, description of the robot and its control system made using Pololu controller. Experiments confirmed the feasibility of the proposed design.

Development of a biped walking robot actuated by a closed-chain mechanism

Robotica ◽  
2005 ◽  
Vol 24 (1) ◽  
pp. 31-37 ◽  
Author(s):  
Hyeung-Sik Choi ◽  
Yong-Heon Park
Keyword(s):  
High Strength ◽  
Gear Ratio ◽  
Ball Screw ◽  
Walking Robot ◽  
Biped Walking ◽  
Link Mechanism ◽  
Closed Chain ◽  
Tracking Ability ◽  
New Type ◽  
Biped Walking Robot

We developed a new type of a human-sized BWR (biped walking robot) driven by the closed-chain type of a joint actuator. Each leg of the BWR is composed of three pitch joints and one roll joint. In all, a 12 degree-of-freedom robot, including four arm joints, was developed. The BWR was designed to walk autonomously; it is actuated by small 90W DC motors/drivers and is has DC batteries and controllers. A new type of the joint actuator for the BWR is composed of the four-bar-link mechanism driven by a ball screw which has high strength and high gear ratio despite its light weight.In this paper, analyses on the four-bar-link mechanism applied to the joint actuator and on the structure of the BWR are presented. Through walking experiments of the BWR, the superior trajectory-tracking ability of the proposed joint actuator is validated.

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