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Labs ■ Bipedal Locomotion

Locomotion

The locomotion group was officially established in July 2013 in response to the foreseen boost of the humanoid technology. The group gathers a small team of researchers inside the Humanoids & Human Centred Mechatronics Lab, and particularly focuses on the research areas related with locomotion, including dynamic walking control, balance/stabilization control, whole-body state estimation and sensor fusion, impedance/admittance and force/torque control.

Scientific Advisors

Members

Projects:

Past: VIACTORS, Amarsi

Current: Walk-Man

Storyboard

Impedance/Admittance control

 

Balancing/Stabilization

 

Foot placement control

Dynamic Walking

 

Publication List

2014

W. Roozing, L.C. Visser and R. Carloni, “Variable Bipedal Walking Gait with Variable Leg Stiffness,“ Biomedical Robotics and Biomechatronics, IEEE RAS/EMBS International Conference on, 2014.

Przemyslaw Kryczka, Yukitoshi Minami Shiguematsu, Petar Kormushev, Kenji Hashimoto, Hun-ok Lim and Atsuo Takanishi, "Towards Dynamically Consistent Real-time Gait Pattern Generation for Full-size Humanoid Robots", IEEE International Conference on Robotics and Biomimetics (ROBIO), Shenzhen, China, 2014.

W. Roozing and R. Carloni, “Bipedal Walking Gait with Variable Stiffness Knees,“ Biomedical Robotics and Biomechatronics, IEEE RAS/EMBS International Conference on, 2014.

Xin Wang, Mantian Li, Wei Guo, Pengfei Wang, Lining Sun. Velocity Control of a Bounding Quadruped via Energy Control and Vestibular Reflexes. Journal of Bionic Engineering. 2014, 11(4): 556–571.

Mantian Li, Xin Wang, Wei Guo, Pengfei Wang, Lining Sun. System Design of a Cheetah Robot toward Ultra-high Speed. International Journal of Advanced Robotic Systems. 2014, 11:73.

J.A. Castano, A. Hernandez, Z. Li, C. Zhou, N.G. Tsagarakis, D.G. Caldwell, R. De Keyser, “Implementation of Robust EPSAC on dynamic walking of COMAN Humanoid”, World Congress of the International Federation of Automatic Control (IFAC), Cape Town, South Africa (2014).

Chengxu Zhou, Zhibin Li, Juan Alejandro Castano, Houman Dallali, Nikolaos Tsagarakis, Darwin G. Caldwell, A Passivity Based Compliance Stabilizer for Humanoid Robots. presented in ICRA 2014 held in Hong Kong.

Zhibin Li, Ka Deng, Mingguo Zhao, “Powered Dynamic Walking Based on the Passive Dynamic Principles: A Virtual Slope Walking Approach”, IEEE-RAS International Conference on Humanoid Robots, Spain, 2014.

Zhibin Li, Chengxu Zhou, Houman Dallali, Nikos Tsagarakis, Darwin G. Caldwell, “Comparison Study of Two Inverted Pendulum Models for Balance Recovery”, IEEE-RAS International Conference on Humanoid Robots, Spain, 2014.

2013

Xin Wang, Mantian Li, Wei Guo, Pengfei Wang, Lining Sun. Development of an antagonistic bionic joint controller for a musculoskeletal quadruped. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, 2013: 4466-4471.

W. Roozing and A. H. Goktogan, “Low-cost vision-based 6-DOF MAV localization using IR beacons,“ Advanced Intelligent Mechatronics (AIM), IEEE/ASME International Conference on, pp. 1003–1009, 2013.

Zhibin Li, Nikos Tsagarakis, and Darwin Caldwell, “Stabilizing Humanoids on Slopes Using Terrain Inclination Estimation,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November, 2013, Tokyo, Japan.

Zhibin Li, Nikos Tsagarakis, and Darwin Caldwell, “Walking pattern generation for a humanoid robot with compliant joints,” Autonomous Robots, 2013.

Zhibin Li, Bram Vanderborght, Nikos Tsagarakis, and Darwin Caldwell, "Quasi-Straightened Knee Walking for the Humanoid Robot," Modeling, Simulation and Optimization of Bipedal Walking, Cognitive Systems Monographs, Vol 18, pp. 117-130, 2013.

2012

Xin Wang, Mantian Li, Wei Guo, Pengfei Wang, Lining Sun. Design and development of a cheetah robot under the neural mechanism controlling the leg's muscles. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve, Portugal, 2012: 2749-2755.

Xin Wang, Mantian Li, Pengfei Wang, Wei Guo, Lining Sun. Bio-inspired controller for a robot cheetah with a neural mechanism controlling leg muscles. Journal of Bionic Engineering, 2012, 9(3): 282-293.

Zhibin Li, Nikos Tsagarakis, and Darwin Caldwell, “A Passivity Based Admittance Control for Stabilizing the Compliant Humanoid COMAN,” IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov. 19th – Dec. 1st, 2012, Osaka, Japan (Award for Best Paper Nomination Finalist).

Zhibin Li, Nikos G. Tsagarakis, Darwin G. Caldwell, “Walking Trajectory Generation for Humanoid Robots with Compliant Joints:Experimentation with COMAN Humanoid”, IEEE International Conference on Robotics and Automation (ICRA), May,2012, USA.

Zhibin Li, Bram Vanderborght, Nikos G. Tsagarakis, Luca Colasanto, Darwin G.Caldwell, “Stabilization for the Compliant Humanoid Robot COMAN Exploiting Intrinsic and Controlled Compliance”, IEEE International Conference on Robotics and Automation (ICRA), May, 2012, USA.

2011

Xin Wang, Mantian Li, Pengfei Wang, Lining Sun. Running and turning control of a quadruped robot with compliant legs in bounding gait. IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, 2011: 511-518.

Haowei Wang, Pengfei Wang, Xin Wang, et al. Touchdown angle's impact on bounding gait of the quadrupeds[C]. IEEE Conference on Robotics, Automation and Mechatronics (RAM), Qingdao, China, 2011: 178-183.

2010

Zhibin Li, Bram Vanderborght, Nikos G. Tsagarakis, Darwin G. Caldwell, “Fast Bipedal Walk Using Large Strides by Modulating Hip Posture and Toe-heel Motion”, IEEE International Conference on Robotics and Biomimetics (Robio), December, 2010, China.

Last Updated on Monday, 15 June 2015 10:38

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