Toward the control of a multi-jointed, monoped runner

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 1998, Pages 2676-2682

  Saranli, Uluc ^a   Schwind, William J ^a   Koditschek, Daniel E ^a  

^a UNIVERSITY OF MICHIGAN   (United States)

Author keywords

Animals; Biological system modeling; Control system analysis; Control systems; Humans; Leg; Nonlinear control systems; Nonlinear dynamical systems; Stability analysis; Velocity control

Indexed keywords

ANIMALS; BIOLOGICAL SYSTEMS; CONTROL SYSTEM ANALYSIS; CONTROL SYSTEM STABILITY; CONTROL SYSTEMS; DYNAMICAL SYSTEMS; INVERSE PROBLEMS; NONLINEAR CONTROL SYSTEMS; NONLINEAR DYNAMICAL SYSTEMS; ROBOTICS; STABILITY; VELOCITY CONTROL; MOTION CONTROL; SPEED CONTROL; SYSTEM STABILITY;

BIOLOGICAL SYSTEM MODELING; CONTROL STRATEGIES; FOUR DEGREE OF FREEDOM; HUMANS; INTEGRAL COMPENSATION; STABILITY ANALYSIS; STABILITY PROPERTIES; TWO-DEGREE OF FREEDOM;

DEGREES OF FREEDOM (MECHANICS); MOBILE ROBOTS;

MULTIJOINTED MONOPED RUNNERS;

EID: 0031625960     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.680750     Document Type: Conference Paper

References (17)

1. R. M. Alexander. Three uses for springs in legged locomotion. International Journal of Robotics Research, 9(2):53-61, 1990.
2. R. M. Alexander and A. S. Jayes. Vertical movement in walking and running. Journal of Zoology, London, 185:27-40, 1978.
3. R. Blickhan. The spring-mass model for running and hopping. Journal of Biomechanics, 22:1217-1227, 1989.
4. R. Blickhan and R. J. Full. Similaxity in multilegged locomotion: Bouncing like a monopode. Journal of Comparative Physiology, 173:509-517, 1993.
5. C. T. Farley, J. Glasheen, and T. A. McMahon. Running springs: Speed and animal size. Journal of Experimental Biology, 185:71-86, 1993.
6. C. T. Farley, H. P. Houdijk, C. van Strien, and M. Louie. Mechanisms for leg stiffness adjustment during bouncing gaits. 1997. In Review.
7. J. K. Hodgins. Legged Robots on Rough Terrain: Experiments in Adjusting Step Length. PhD thesis, Carnegie Mellon University, November 1989. CMU- CS-89-151.
8. J. K. Hodgins. Three-dimensional human running. In ICRA, Minneapolis, MN, May 1996.
9. J. K. Hodgins and N. S. Pollard. Typical human and kangaroo leg characteristics. Personal Communication.
10. D. E. Koditschek and M. Buhler. Analysis of a simplified hopping robot. International Journal of Robotics Research, 10(6):587-605, December 1991.
11. R. T. M'Closkey and J. W. Burdick. Periodic motions of a hopping robot with vertical and forward motion. International Journal of Robotics Research, 12(3):197-218, 1993.
12. M. H. Raibert. Legged Robots That Balance. MIT Press, Cambridge, MA, 1986.
13. U. Saranli and D. E. Koditschek. Analysis and control of slip and multi-jointed monoped planar hoppers. Technical report, EECS, UM, Ann Arbor, MI, 1998. In Preparation.
14. W. J. Schwind, C. T. Farley, and D. E. Koditschek. Identification of springs in human running, 1997. Paper in Progress.
15. W. J. Schwind and D. E. Koditschek. Control of forward velocity for a simplified planar hopping robot. In Proceedings of the IEEE International Conference On Robotics and Automation, Nagoya, Japan, May 1995.
16. W. J. Schwind and D. E. Koditschek. Characterization of monoped equilibrium gaits. In Proceedings of the IEEE International Conference On Robotics and Automation, Albuquerque, NM, April 1997.
17. A. F. Vakakis, J. W. Burdick, and T. K. Caughy. An 'interesting' strange attractor in the dynamics of a hopping robot. International Journal of Robotics Research, 10(6):606-618, December 1991.