Ascending and descending stairs for a biped robot

IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans.

Volumn 29, Issue 3, 1999, Pages 255-268

  Shih, Ching Long ^a,b  

^a IEEE

^b NATIONAL TAIWAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Taiwan)

Author keywords

[No Author keywords available]

Indexed keywords

BIPED LOCOMOTION; DEGREES OF FREEDOM (MECHANICS); MOTION PLANNING; POSITION CONTROL; SYSTEM STABILITY;

BIPED ROBOT; STATIC STABILITY;

MOBILE ROBOTS;

EID: 0032689358     PISSN: 10834427     EISSN: None     Source Type: Journal    
DOI: 10.1109/3468.759271     Document Type: Article

References (20)

1. S. M. Song and K. J. Waldron, Machines That Walk: The Adaptive Suspension Vehicle. Cambridge, MA, MIT Press, 1988.
2. M. Vukobratovic, "How to control artificial anthropomorphic systems," IEEE Trans. Syst., Man, Cybern., vol. SMC-3, no. 5, pp. 497-507, 1973.
3. F. Miyazaki and S. Arimoto, "A control theoretic study on dynamical biped locomotion," ASME J. Dyn., Syst., Meas., Contr., vol. 103, pp. 233-239, 1980.
4. H. Miura and I. Shimoyama, "Dynamic walk of biped locomotion," Int. J. Robot. Res., vol. 3, no. 2, pp. 60-74, 1984.
5. T. Mita, T. Yamaguchi, T. Kashiwase, and T. Kawase, "Realization of a high speed biped using modern control theory," Int. J. Contr., vol. 40, no. 1, pp. 107-119, 1984.
6. M. Raibert, "Running with symmetry," Int. J. Robot. Res., vol. 5, no. 4, pp. 3-19, 1986.
7. J. Furusho and A. Sano, "Sensor-based control of a nine-link biped," Int. J. Robot. Res., vol. 9, no. 2, pp. 83-98, 1990.
8. Q. Li, A. Takanishi, and I. Kato, "A biped walking robot having a ZMP measurement system using universal force-moment sensors," IEEE/RSJ Intel. Workshop Intelligent Robots Systems IROS '91, Osaka, Japan, 1991, pp. 1568-1573.
9. S. Kajita, T. Yamaura, and A. Kobayashi, "Dynamic walking control of a biped robot along a potential energy conserving orbit," IEEE Trans. Robot. Automat., vol. 8, pp. 431-438, 1992.
10. A. Grishin, A. Formal'sky, A. Lensky, and S. Zhitomirsky, "Dynamic walking of a vehicle with two telescopic legs controlled by two drivers," Int. J. Robot. Res., vol. 13, no. 2, pp. 137-147, 1994.
11. W. T. Miller, "Real-time neural network control of a biped walking robot," IEEE Contr. Syst., pp. 41-48, Feb. 1994.
12. Y. Zheng and J. Shen, "Gait synthesis for the SD-2 biped robot to climb sloped surface," IEEE Trans. Robot. Automat., vol. 6, no. 1, pp. 86-96, 1990.
13. S. Kajita and K. Tani, "Study of dynamic biped locomotion on rugged terrain - Derivation and application of the linear inverted pendulum mode," in Proc. IEEE Int. Conf. Robotics Automation, 1991, pp. 1405-1411.
14. S. Kajita and K. Tani, "Experimental study of a biped robot dynamic walking in the linear inverted pendulum mode," in Proc. IEEE Int. Conf. Robotics Automation, May 1995.
15. J. Yamaguchi, A. Takanishi, and I. Kato, "Experimental development of foot mechanism with shock absorbing material for acquisition of landing surface position information and stabilization of dynamic biped walking," in Proc. IEEE Int. Conf. Robotics Automation, May 1995.
16. J. Yamaguchi, A. Takanishi, and I. Kato, "Development of a biped walking robot adapting to a horizontally uneven surface," IROAS 1994, pp. 1156-1163, 1994.
17. T. McGeer, "Passive dynamic walking," Int. J. Robot. Res., vol. 9, no. 2, pp. 62-82, 1990.
18. J. K. Hodgins and M. H. Raibert, "Adjusting step length for rough terrain locomotion," IEEE Trans. Robot. Automat., vol. 7, no. 3, pp. 289-998, 1991.
19. Y. F. Zheng and H. Hemami, "Impact effects of biped contact with the environment," IEEE Trans. Syst., Man, Cybern., vol. SMC-14, no. 3, pp. 437-443, 1984.
20. P. H. Channon, S. H. Hopkins, and D. T. Pham, "Derivation of optimal walking motion for a bipedal walking robot," Robotica, vol. 10, pp. 165-172, 1992.