Toward Intelligent Biped-Humanoids Gaits Generation

@article{Rokbani2012TowardIB,
  title={Toward Intelligent Biped-Humanoids Gaits Generation},
  author={Nizar Rokbani and Boudour Ammar and Adel M. Alimi},
  journal={ArXiv},
  year={2012},
  volume={abs/1212.1800}
}
In this chapter we will highlight our experimental studies on natural human walking analysis and introduce a biologically inspired design for simple bipedal locomotion system of humanoid robots. Inspiration comes directly from human walking analysis and human muscles mechanism and control. A hybrid algorithm for walking gaits generation is then proposed as an innovative alternative to classically used kinematics and dynamic equations solving, the gaits include knee, ankle and hip trajectories… 
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Background Citations
4
Methods Citations
3

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Biped robot control using particle swarm optimization
TLDR
The proposed PSO is adapted to generate angular position joints, Human walking stability criteria are used to check and validate the gaits and an upper torso controller is introduced to correct walking stability and limits fall downs.
Neuro-Fuzzy Gait Generator for a Biped Robot
TLDR
A fuzzy gait generator, FGG, is presented that generates the angular trajectories of a biped robot and has the same comportment of a classical geometric model and could be an alternative to it.
Using PSO for a walk of a biped robot
IK-PSO, PSO Inverse Kinematics Solver with Application to Biped Gait Generation
TLDR
The inertia weight PSO variant is used to generate a possible solution according to the stability based fitness function and a set of joints motions constraints and the method is applied with success to a leg motion generation.
Learning to Walk Using a Recurrent Neural Network with Time Delay
TLDR
The role of the proposed network is the training of human walking data by giving an estimation of the biped's next position at each time and achieve a human-like natural walking.
Prototyping a biped robot using an educational robotics kit
TLDR
In this work, the Bioloid robotic kit is used to implement and evaluate a new algorithm for biped gait generation called IK-PSO, which used a forward kinematics model and a target position of the biped center of mass, COM, to generate an inverse kinematic solution of the joints motions.
A hierarchical fuzzy controller for a biped robot
  • A. Zaidi, N. Rokbani, A. Alimi
  • Engineering
    2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR)
  • 2013
TLDR
The proposed hierarchic system focus on the key role that the centre of mass position plays in biped robotics, the system sub-controllers generate their outputs taken into consideration the position of that key point.
IK-FA, a New Heuristic Inverse Kinematics Solver Using Firefly Algorithm
TLDR
The heuristic approach for solving inverse kinematics without computing the inverse model, IK-FA tends to minimize the distance to a target position, the fitness function could be established as the distance between the obtained forward positions and the desired one, it is subject to minimization.
Importance of Locomotion and Its Dominance over Other Factors

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