Control and Gait Generation of Biped Robots: A Review

Nahal Memar Kocheh Bagh; Pengcheng Liu

doi:10.1007/978-981-99-8498-5_42

Control and Gait Generation of Biped Robots: A Review

Nahal Memar Kocheh Bagh^*, Pengcheng Liu

^*Corresponding author for this work

Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This review paper explores the translation of human negotiation behaviors to bipedal walking robots, considering the inherent differences in morphology between humans and robots. Despite considerable advancements in bipedal robotics in recent years, mechanical bipeds still lack the agility and robustness exhibited by their biological counterparts, particularly in unfamiliar or dynamically changing environments. This limitation can be attributed to the absence of online motion planning, reflex-like control, and non-advantageous passive dynamics, which biological systems employ to effectively overcome disturbances, especially when encountering significant unplanned changes in stepping height.

Original language	English
Title of host publication	Advances in Intelligent Manufacturing and Robotics
Subtitle of host publication	Selected Articles from ICIMR 2023; 22-23 August, Suzhou, China
Publisher	Springer Singapore
Pages	503–517
ISBN (Electronic)	978-981-99-8498-5
ISBN (Print)	978-981-99-8497-8
DOIs	https://doi.org/10.1007/978-981-99-8498-5_42
Publication status	Published - 27 Feb 2024
Event	The 1st International Conference on Intelligent Manufacturing and Robotics 2023 - Suzhou, Jiangsu, China Duration: 22 Aug 2023 → 23 Aug 2023

Publication series

Name	Lecture Notes in Networks and Systems
Publisher	Springer, Singapore
Volume	845
ISSN (Print)	2367-3370
ISSN (Electronic)	2367-3389

Conference

Conference	The 1st International Conference on Intelligent Manufacturing and Robotics 2023
Abbreviated title	(ICiMR 2023)
Country/Territory	China
City	Jiangsu
Period	22/08/23 → 23/08/23

Bibliographical note

This is an author-produced version of the published paper. Uploaded in accordance with the University’s Research Publications and Open Access policy.

Access to Document

10.1007/978-981-99-8498-5_42

BIPED ROBOTS REVIEW PAPER
This is an author-produced version of the published paper. Uploaded in accordance with the University’s Research Publications and Open Access policy.
Accepted author manuscript, 295 KBLicence: CC BY

https://link.springer.com/chapter/10.1007/978-981-99-8498-5_42#copyright-information

Cite this

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title = "Control and Gait Generation of Biped Robots: A Review",

abstract = "This review paper explores the translation of human negotiation behaviors to bipedal walking robots, considering the inherent differences in morphology between humans and robots. Despite considerable advancements in bipedal robotics in recent years, mechanical bipeds still lack the agility and robustness exhibited by their biological counterparts, particularly in unfamiliar or dynamically changing environments. This limitation can be attributed to the absence of online motion planning, reflex-like control, and non-advantageous passive dynamics, which biological systems employ to effectively overcome disturbances, especially when encountering significant unplanned changes in stepping height.",

author = "{Memar Kocheh Bagh}, Nahal and Pengcheng Liu",

note = "This is an author-produced version of the published paper. Uploaded in accordance with the University{\textquoteright}s Research Publications and Open Access policy. ; The 1st International Conference on Intelligent Manufacturing and Robotics 2023, (ICiMR 2023) ; Conference date: 22-08-2023 Through 23-08-2023",

year = "2024",

month = feb,

day = "27",

doi = "10.1007/978-981-99-8498-5_42",

language = "English",

isbn = "978-981-99-8497-8",

series = "Lecture Notes in Networks and Systems",

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booktitle = "Advances in Intelligent Manufacturing and Robotics",

address = "Singapore",

}

Memar Kocheh Bagh, N & Liu, P 2024, Control and Gait Generation of Biped Robots: A Review. in Advances in Intelligent Manufacturing and Robotics : Selected Articles from ICIMR 2023; 22-23 August, Suzhou, China. Lecture Notes in Networks and Systems, vol. 845, Springer Singapore, pp. 503–517, The 1st International Conference on Intelligent Manufacturing and Robotics 2023, Jiangsu, China, 22/08/23. https://doi.org/10.1007/978-981-99-8498-5_42

Control and Gait Generation of Biped Robots: A Review. / Memar Kocheh Bagh, Nahal; Liu, Pengcheng.
Advances in Intelligent Manufacturing and Robotics : Selected Articles from ICIMR 2023; 22-23 August, Suzhou, China. Springer Singapore, 2024. p. 503–517 (Lecture Notes in Networks and Systems; Vol. 845).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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N2 - This review paper explores the translation of human negotiation behaviors to bipedal walking robots, considering the inherent differences in morphology between humans and robots. Despite considerable advancements in bipedal robotics in recent years, mechanical bipeds still lack the agility and robustness exhibited by their biological counterparts, particularly in unfamiliar or dynamically changing environments. This limitation can be attributed to the absence of online motion planning, reflex-like control, and non-advantageous passive dynamics, which biological systems employ to effectively overcome disturbances, especially when encountering significant unplanned changes in stepping height.

AB - This review paper explores the translation of human negotiation behaviors to bipedal walking robots, considering the inherent differences in morphology between humans and robots. Despite considerable advancements in bipedal robotics in recent years, mechanical bipeds still lack the agility and robustness exhibited by their biological counterparts, particularly in unfamiliar or dynamically changing environments. This limitation can be attributed to the absence of online motion planning, reflex-like control, and non-advantageous passive dynamics, which biological systems employ to effectively overcome disturbances, especially when encountering significant unplanned changes in stepping height.

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ER -

Control and Gait Generation of Biped Robots: A Review

Abstract

Publication series

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Bibliographical note

Access to Document

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Cite this