3 papers
cs.RO2023
Soft Soil Gait Planning and Control for Biped Robot using Deep Deterministic Policy Gradient Approach
Gaurav Bhardwaj, Soham Dasgupta, N. Sukavanam +1
Biped robots have plenty of benefits over wheeled, quadruped, or hexapod robots due to their ability to behave like human beings in tough and non-flat environments. Deformable terr…
cs.RO2020
Planning Brachistochrone Hip Trajectory for a Toe-Foot Bipedal Robot going Downstairs
Gaurav Bhardwaj, Utkarsh A. Mishra, N. Sukavanam +1
A novel efficient downstairs trajectory is proposed for a 9 link biped robot model with toe-foot. Brachistochrone is the fastest descent trajectory for a particle moving only under…
cs.RO2020
Cycloidal Trajectory Realization on Staircase based on Neural Network Temporal Quantized Lagrange Dynamics (NNTQLD) with Ant Colony Optimization for a 9-Link Bipedal Robot
Gaurav Bhardwaj, Utkarsh A. Mishra, N. Sukavanam +1
In this paper, a novel optimal technique for joint angles trajectory tracking control with energy optimization for a biped robot with toe foot is proposed. For the task of climbing…