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KOU-III: A bipedal robot with quadrotor-assisted locomotion

MECHATRONICS 2025年 107卷

作者： Zeng, Xianwu Huang, Lishu Zhang, Guoteng Li, Yibin Shandong Univ Sch Control Sci & Engn Jinan 250061 Shandong Peoples R China HyperDynam Tech Ltd Changsha 410005 Hunan Peoples R China

This paper presents KOU-III, a bipedal robot prototype featuring quadrotor-assisted locomotion. With three rotary joints per leg supplemented by four rotor actuators, the system integrates a total of 10 independent actuators. The objective is to enhance the robot's motion performance through quadrotor assistance rather than achieving multimodal locomotion. In the prototype design, we improved the rigidity and compactness of the knee joint actuator by modifying the cantilever structure of the planetary carrier in the reducer to a bridge-like design. A simple motion control strategy was then developed to enable the robot to perform standing, walking, and jumping motions. Experimental results demonstrate that quadrotor assistance significantly improves both the stability and motion performance of the bipedal robot.

关键词： bipedal robot Quadrotor-assisted Motion performance

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Improved impedance control technique for bipedal robot swing leg landing based on switching tree

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MEASUREMENT & CONTROL 2025年

作者： Li, Yan Zhao, Yixin Jilin Engn Vocat Coll Zhangjiakou 136001 Hebei Peoples R China

In the process of dynamic motion of biped robot, the irregular ground touch will occur under the influence of the external environment, and the control efficiency of the unstable support configuration will directly affect the motion stability. The randomization method to set the landing impedance of the swinging leg of the biped robot will cause the overall walking posture to become unstable, resulting in the impact of the foot force of the biped robot. Therefore, an improved impedance control technique for swinging leg landing of biped robot based on switching tree is designed in this paper. The linear relationship between the foot force and the leg length of the swinging leg was analyzed by the five-link model, and the leg stiffness of the swinging leg was determined. The trajectory of the biped robot is adjusted by the feedback force, and a spring physical model is assumed in the position impedance control. Considering the coherence and coordination of the biped robot in the walking process, the switching tree algorithm finds the minimum switching tree and the maximum switching tree of the landing impedance of the biped robot swinging legs, and precisely sets the impedance by determining the optimal node, so that the force of the foot in contact with the ground can change smoothly according to the expected way. newTree is obtained from oldTree from the swinging leg landing motion of the biped robot until no exchangeable tree exists, and the control improvement of the swinging leg landing impedance of the biped robot is completed. The experimental results show that after the impedance control is added to the method, the landing tracking force value of the swinging leg of the biped robot is 5 N, the trajectory tracking accuracy is the highest 99%, the joint Angle deviation is maintained between 0.15 degrees and 0.24 degrees, and the control response time is between 2.35 and 3.02 ms, which can improve the landing stability of the swinging leg of the biped robot.

关键词： Switching tree bipedal robot swing leg impedance control trajectory adjustment five-link

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Walking dynamics of a bipedal robot with impulsive actuation

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PHYSICA D-NONLINEAR PHENOMENA 2025年 476卷

作者： Long, Tengfei Hui, Xianfei Jiang, Guirong Guilin Univ Elect Technol Sch Elect Engn & Automat Guilin 541004 Peoples R China Guilin Univ Elect Technol Sch Business Guilin 541004 Peoples R China Guilin Univ Elect Technol Sch Math & Comp Sci Guangxi Coll & Univ Key Lab Data Anal & Computat Guilin 541004 Peoples R China Ctr Appl Math Guangxi GUET Guilin 541001 Peoples R China

Impulsive actuation, which includes hip joint pulse torque and heel pulse thrust, is introduced to build a walking model of a bipedal robot on level ground in this study. The impulsive actuation configuration and the mechanism of stable walking motion are investigated. The existence and stability of period-1 and 2 gaits are investigated by means of the discrete map. The conditions for flip bifurcation and inverse flip bifurcation of period-1 gait are derived. The complex walking dynamics, such as period-4 gait, flip bifurcation and inverse flip bifurcation of period-n (n = 2,4) gait, and chaotic gait, are obtained by numerical simulations. By using period-1 gait, theoretical analysis is conducted on the energy consumption of applying pulse torque and constant torque to the hip joint under the same conditions. Numerical results show that the energy consumption of pulse torque is less than that of constant torque. The superiority and walking dynamics caused by impulsive actuation can provide theoretical reference for designing bipedal robots with stable and efficient walking.

关键词： bipedal robot Pulse torque Pulse thrust Periodic gait Flip bifurcation

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Learning Robust Locomotion for bipedal robot via Embedded Mechanics Properties

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仿生工程学报（英文版） 2024年第3期21卷 1278-1289页

作者： Yuanxi Zhang Xuechao Chen Fei Meng Zhangguo Yu Yidong Du Junyao Gao Qiang Huang School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing 100081China

Reinforcement learning(RL)provides much potential for locomotion of legged *** to the gap between simulation and the real world,achieving sim-to-real for legged robots is ***,the support polygon of legged robots can help to overcome some of these *** robot has a considerable support polygon,followed by bipedal robot with actuated feet,and point-footed bipedal robot has the smallest support ***,despite the existing sim-to-real gap,most of the recent RL approaches are deployed to the real quadruped robots that are inherently more stable,while the RL-based locomotion of bipedal robot is challenged by zero-shot sim-to-real *** for the point-footed one that gets better dynamic performance,the inevitable tumble brings extra barriers to sim-to-real ***,the crux of this type of problem is the difference of mechanics properties between the physical robot and the simulated one,making it difficult to play the learned skills well on the physical bipedal *** this paper,we introduce the embedded mechanics properties(EMP)based on the optimization with Gaussian processes to RL training,making it possible to perform sim-to-real transfer on the BRS1-P robot used in this work,hence the trained policy can be deployed on the BRS1-P without any *** validate the performance of the learning-based BRS1-P on the condition of disturbances and terrains not ever learned,demonstrating the bipedal locomotion and resistant performance.

关键词： bipedal robot Reinforcement learning Sim-to-real Mechanics properties

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LIPCPM: A Novel Model for Anti-Sloshing and Stable bipedal robot Locomotion

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IEEE ACCESS 2025年 13卷 80786-80795页

作者： Kang, Hosun Park, Jaehyung Lee, Dongyoung Lee, Jungmin Lee, Inho Pusan Natl Univ Dept Elect Engn Busan 46241 South Korea

In this paper, we propose a novel model, the Linear Inverted Pendulum with Cart-Plate Model (LIPCPM), which combines the Linear Inverted Pendulum Model (LIPM) with a mass-spring-damper model to simultaneously control both the legged robot and the sloshing phenomenon. A legged robot transporting liquid-filled container exhibits significant nonlinearities due to the sloshing dynamics of fluid movement within a confined container and the dynamics of legged robot itself. Therefore, controlling the legged robot and sloshing phenomenon together will bring challenges. Since the robot receives the reaction forces by the sloshing dynamics, simply implementing LIPM on the robot carrying a liquid container would not be enough. So, we analyzed how the reaction forces affect the robot with actual experiments and tabulated the system parameters that can be integrated with the LIPM. The experimental results show that the reaction forces by the sloshing dynamics are similar to those of a second-order response. The proposed model could be utilized with the Model Predictive Control (MPC), and predicted future states of the robot and liquid were controlled as we desired. Finally, we demonstrate the effectiveness of the proposed system in simulation with experimental-based system parameters for reliability. According to the results, the Root Mean Square Error (RMSE) of sloshing phenomenon under various conditions was decreased by approximately 70 %.

关键词： robots Legged locomotion Containers Liquids Dynamics Service robots Reliability Three-dimensional displays Springs Shock absorbers Anti-sloshing bipedal robot legged robot model-based control model predictive control sloshing dynamics

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DSE: A Denoising State Estimator for RL-Based bipedal robot Locomotion

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IEEE robotICS AND AUTOMATION LETTERS 2025年第7期10卷 6736-6743页

作者： Du, Yidong Zhou, Zishun Chen, Xuechao Yu, Zhangguo Wu, Jiahao Zhang, Yuanxi Zhao, Qingrui Huang, Qiang Beijing Inst Technol Sch Mechatron Engn Beijing 100081 Peoples R China Minist Educ Beijing Inst Technol Key Lab Biomimet Robots & Syst Beijing 100081 Peoples R China

Recent advancements in legged robot locomotion and reinforcement learning have demonstrated significant potential for the development of bipedal robot. But the state estimation accuracy and bipedal robot locomotion robustness of Reinforcement Learning based (RL-based) controller is significantly influenced by IMU's measurement noise. High-precision IMUs can obtain accurate information, but manufacturing cost is high, while robots equipped with low-price IMUs may face large noise and bias in-consistence. In this letter, we propose a novel denoising autoencoder-based state estimator (DSE) to address sensor noise cancellation and state estimation problem in RL-based bipedal robot locomotion control. The DSE architecture learns a compact representation of robots' system dynamics behind those low-price IMU's noisy data and provides noise reduced measurements and accurate state estimation for learning-based controller. We demonstrate the effectiveness of the DSE architecture in reducing noise and enhancing the robustness of both state estimation and locomotion control in various indoor and outdoor experiments. The results highlight the potential of DSE framework in facing noise distribution difference between simulation and reality.

关键词： robots State estimation Noise reduction robot sensing systems Legged locomotion Noise measurement Training Noise Autoencoders Accuracy bipedal robot noise cancellation reinforcement learning state estimation

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Design and control of BRAVER: a bipedal robot actuated via proprioceptive electric motors

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AUTONOMOUS robotS 2023年第8期47卷 1229-1243页

作者： Zhu, Zhengguo Zhu, Weiliang Zhang, Guoteng Chen, Teng Li, Yibin Rong, Xuewen Song, Rui Qin, Daoling Hua, Qiang Ma, Shugen Shando ng Univ Sch Control Sci & Engn Jinan 250061 Peoples R China Intelligent Robot Res Ctr Zhejiang Lab Hangzhou 311121 Peoples R China Ritsumeikan Univ Dept Robot Shiga 5258577 Japan

This paper presents the design and control of a high-speed running bipedal robot, BRAVER. The robot, which weighs 8.6 kg and is 0.36 m tall, has six active degrees, all of which are driven by custom back-driveable modular actuators, which enable high-bandwidth force control and proprioceptive torque feedback. We present the details of the hardware design, including the actuator, leg, foot, and onboard control systems, as well as the locomotion controller design for high dynamic tasks and improving robustness. We have demonstrated the performance of BRAVER using a series of experiments, including multi terrains walking, up and down 15(?) slopes, pushing recovery, and running. The maximum running speed of BRAVER reaches 1.75 m/s.

关键词： bipedal robot Force control High-speed running Whole body control Modular motor

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Online regulation of walking gait speed for a five-link bipedal robot via adaptive deforming of virtual holonomic constraints

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NONLINEAR DYNAMICS 2023年第21期111卷 20055-20071页

作者： Kakaei, Mohammad Mehdi Salarieh, Hassan Sohrabpour, Saeed Sharif Univ Technol Dept Mech Engn Tehran *** Iran

bipedal robots with instantaneous impact form a subclass of the dynamic systems with hybrid and under-actuation properties. Because of these two complex properties, finding an effective control method to show a rule base motion is difficult. In particular, few works are focused on how to regulate gait speed based on analytical stability and its own model which boost the robustness and accuracy. This is, thereby, still an open and challenging issue. In this paper, we present a solution for online regulating walking gait speed of bipedal robot based on its model while simultaneously stabilizing a closed orbit in the constraint manifold space. Suitable paths are therefore taken as the virtual holonomic constraints, which are then characterized by some parameters. By proposing a stability theorem, a hierarchical controller is designed in two levels. At the low level, the controller stabilizes the constraints as an output of the system state space, thereby creating the constraint manifold. In order to achieve the desired gait speed, the high-level controller adaptively deforms this manifold through the characterization parameters. In this design, the robustness of the controller is taken into consideration to prevent the system from being affected by disturbances. Simulation results show that the control method has a good performance and works smoothly in regulating the robot gait speed. Furthermore, the robot is also resistant to disturbance during movement and performs a stable motion over time.

关键词： Hybrid systems bipedal robot Adaptive deforming Virtual holonomic constraint Walking gait speed

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Neural network temporal quantized lagrange dynamics with cycloidal trajectory for a toe-foot bipedal robot to climb stairs

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APPLIED INTELLIGENCE 2023年第9期53卷 10995-11018页

作者： Bhardwaj, Gaurav Mishra, Utkarsh A. Sukavanam, N. Balasubramanian, R. IIT Roorkee Comp Sci & Engn Dept Haridwar Uttarakhnand India IIT Roorkee Mech & Ind Engn Dept Haridwar Uttarakhnand India IIT Roorkee Math Dept Haridwar Uttarakhnand India

A novel technique for joint angles trajectory tracking control with energy optimization is proposed for a biped robot with toe foot. For the task of climbing stairs by a 9-link biped model, an adaptive cycloid trajectory for the swing phase is planned as a function of the staircase rise/run ratio. We consider Zero Moment Point criteria for satisfying stability constraints. The paper is primarily divided into three sections: 1) Planning stable cycloid trajectory for the initial step and subsequent steps for climbing upstairs. We incorporate inverse kinematics using an unsupervised artificial neural network with a knot shifting procedure for jerk minimization. 2) Developing dynamics for toe-foot biped model using Lagrange formulation along with contact modeling using the spring-damper system. We propose Neural Network Temporal Quantized Lagrange Dynamics, which couples inverse kinematics neural network with dynamics. 3) Using Ant Colony Optimization to tune Proportional-Derivative controller and torso angle in order to minimize joint trajectory errors and total energy consumed. Three cases with variable staircase dimensions have been taken, and a comparison is made to validate the effectiveness of the proposed work. Generated patterns have been simulated in (c) Matlab and MuJoCo.

关键词： Cycloidal trajectory Staircase motion planning bipedal robot Unsupervised artificial neural network Ant Colony Optimization

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State Estimation for Point-Foot Parallel-Legged bipedal robot 43

State Estimation for Point-Foot Parallel-Legged Bipedal Robo...

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43rd Chinese Control Conference (CCC)

作者： Liu, Weicheng Sun, Shuangyuan Liu, Hao Song, Wenjie Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China

ISBN: (纸本)9798350366907;9789887581581

bipedal robots have shown great potential in academic, medical and military fields. bipedal robot motion control requires accurate acquisition of body state as feedback information, so it is important to accurately obtain body state information in real time. For parallel-legged point-foot robots, complex structural characteristics bring many challenges to state estimation. On the one hand, the continuous collision and impact of the point-foot with the ground causes the inertial measurement unit (IMU) to generate high-frequency noise. On the other hand, the increase in the number of joints in parallel structures brings more kinematic parameter noise and joint encoder noise. This paper proposes a real-time state estimation framework for XingT, a parallel-legged bipedal robot. Specifically, the five-link forward kinematics information is used as the Extended Kalman observation state to update the IMU prior state. In addition, for foot contact state, this paper applies a contact probability model and integrates foot height, gait phase and other information to obtain the contact probability. The proposed method was successfully applied to the XingT robot. The results show that the method is more robust than the linear Kalman Filter and can operate at a higher frequency (400Hz).

关键词： bipedal robot State Estimation Extended Kalman Filter

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