Virtual gravity and coupling control for robotic gait synthesis

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

Volumn 31, Issue 6, 2001, Pages 737-745

  Asano, Fumihiko ^a   Yamakita, Masaki ^a  

^a TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

Biped robots; Hybrid dynamical system; Legged locomotion; Passive dynamic walking; Passivity

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; CONSTRAINT THEORY; LAGRANGE MULTIPLIERS; MATRIX ALGEBRA; MOTION CONTROL; MOTION PLANNING; ROBOTICS; TORQUE;

BIPED ROBOT; HYBRID DYNAMICAL SYSTEM; LEGGED LOCOMOTION; PASSIVE DYNAMIC WALKING; PASSIVITY;

CONTROL SYSTEM SYNTHESIS;

EID: 0035521263     PISSN: 10834427     EISSN: None     Source Type: Journal    
DOI: 10.1109/3468.983431     Document Type: Letter

References (13)

1. Passive dynamic walking
2. Compass-like biped robot-Part I: Stability and bifurcation of passive gaits
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5. Speed, efficiency, and stability of small-slope 2-D passive dynamic bipedal walking
6. Limit cycles in a passive compass gait biped and passivity-mimicking control laws
7. Passivity based control of the compass gait biped
8. Passive velocity field control of mechanical manipulators
9. Application of passive velocity field control to contour following problems
10. Passive velocity field control of biped walking robot
11. Extended passive velocity field control with variable velocity fields for a kneed biped
12. Virtual passive dynamic walking and energy-based control laws
13. Stabilizing control of passive biped robot and its application to active walking