Online Running-Gait Generation for Bipedal Robots with Smooth State Switching and Accurate Speed Tracking

Round 1

Reviewer 1 Report

Topic is sound and scientifically important, supporting practical implementation of the bipedal robots. To increase clarity of the article please provide:

- aim of the study id the Abstract and Introduction,

- longer Conclusion and future work section - please provide deeper analysis of the concurrent approaches, limitations of the own study and directions for further research and implementation of results.

 

 

Author Response

Dear Editors and Reviewers,

Thank you for your letter and for the reviewers’ comments concerning our manuscript entitled “Online Running Gait Generation for Biped Robots with Smooth State Switching and Accurate Speed Tracking” (ID: biomimetics-2236343). Those comments are all valuable and very helpful for revising and improving our paper, as well as the important guiding significance to our research. We have carefully studied the comments and made modifications that we hope will meet the requirements for publication. The main corrections in the paper and the responses to the reviewer’s comments are as follows. Traces of content modification and explanations are highlighted in red on “Response-manuscript.pdf”.

Sincerely,

Xiang Meng

Author Response File: Author Response.pdf

Reviewer 2 Report

An article Running Gait Generation for Biped Robots with Smooth State Switching and Accurate Speed Tracking is in subject of Biomimetics MDPI journal.

Valuable paper which solve problem of runing gait generation for bped wlking robots.

Paper need  minor review for improve it readability.

Please consider in your review my remark presented in few comments

Comment 1

You use in first sentences of paper multiple citations of references

Legged robots, as a typical category of bionic robots, have made significant development in recent years [ 1 – 6 ]. Particularly, with a human-like appearance, biped robots can replace humans to complete some repetitive tasks without changing the work environment. At present, most biped robots have been able to walk stably at a relatively low speed [ 1 – 3 ].

I propose more detailed describe this citations

Comment 2

I propose add some last review references in scientific subject of article.

Sensors 2022, 22(12), 4440; https://doi.org/10.3390/s22124440

Current  Robotics Reports 2021, 2, 201–210 (2021). https://doi.org/10.1007/s43154-021-00050-9

Comment 3

In section 2

You wrote  subsection 2.1

2.1. Variable Height Inverted Pendulum Model

You present first

Figure 1. The variable height inverted pendulum (VHIP) model.

And next its citation

As shown in Figure 1, the biped robot is simplified into a VHIP model. Under the assumption that the robot is running on flat ground, it is possible to replace the contact force with ZMP in the stance phase. When the robot enters the flight phase, it moves the parabola because there is no external contact force affecting it except for gravity.

I propose move these sentences before Figure 1

Comment 4

You present

Algorithm 1 Iterative computation for target footholds

In Section 4

Please move Figure 1 in right place of section 3

After this sentence

Algorithm 1 Iterative computation for target footholds

Comment 5

You present Section 4 as

4. Results

Because of you present also discussion I propose change name of this section on

4. Results and discussions

Comment 6

I found

Figure 4. Trajectories of a complete running motion. Commanded forward speed increases first and then decreases, the maximum speed is 0.9 m/s , while the lateral speed changes periodically. The  ZMP trajectory of the state switching 1 (red background) and the state switching 3 (blue background) are obtained by the NLP (16). The target footholds during the cyclic running (green background) are computed by the iterative Algorithm 1.

In Section 4

This figure is not cited in article

Comment 7

Figure 5, I found outside subsection 4.1 where is cited. Please move it to right place

Comment 8

Can you consider to present of Conclusion using bullet. I think that it improve presentation of your achievements in article

Author Response

Dear Editors and Reviewers,

Thank you for your letter and for the reviewers’ comments concerning our manuscript entitled “Online Running Gait Generation for Biped Robots with Smooth State Switching and Accurate Speed Tracking” (ID: biomimetics-2236343). Those comments are all valuable and very helpful for revising and improving our paper, as well as the important guiding significance to our research. We have carefully studied the comments and made modifications that we hope will meet the requirements for publication. The main corrections in the paper and the responses to the reviewer’s comments are as follows. Traces of content modification and explanations are highlighted in blue on “Response-manuscript.pdf”.

Sincerely,

Xiang Meng

Author Response File: Author Response.pdf