Quasi-periodic gaits of passive one-legged hopper

IEEE International Conference on Intelligent Robots and Systems

Volumn 3, Issue , 2002, Pages 2625-2630

  Hyon, Sang Ho ^a   Emura, Takashi ^a  

^a TOHOKU UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; ASYMPTOTIC STABILITY; BIPED LOCOMOTION; COMPUTER SIMULATION; EQUATIONS OF MOTION; HAMILTONIANS; MATHEMATICAL MODELS; MOBILE ROBOTS; NONLINEAR CONTROL SYSTEMS; PARAMETER ESTIMATION;

LEGGED ROBOTS; NONLINEAR HYBRID SYSTEM; ONE LEGGED HOPPER; QUASI PERIODIC GAIT;

ANTHROPOMORPHIC ROBOTS;

EID: 0036453120     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (15)

1. M.Raibert: Legged Robots That Balance, MIT Press, 1985.
2. J.Hodgins, M.Raibert: "Biped gymnastics", Int. J. Robotics Research vol.9, no.2, pp.115-132, 1990.
3. G.Zeglin: "Uniroo: A one legged dynamic hopping robot", BS Thesis, Department of Mechanical Engineering, MIT, 1991.
4. G.Zeglin, B.Brown: "Control of a bow leg hopping robot", Proc. of IEEE ICRA, pp.793-798, 1998.
5. S.H.Hyon, T.Mita: "Development of a Biologically Inspired Hopping Robot - "Kenken"", Proc. of ICRA, pp.3894-3991, May 2002.
6. D.Koditschek, M.Buehler: "Analysis of a simplified hopping robot", Int. J. Robotics Research, vol.10, no.6, pp.587-605, 1991.
7. R.M'Closkey, J.Burdick: "Periodic motions of a hopping robot with vertical and forward motion", Int. J. Robotics Research, vol.12, no.3, pp.197-218, 1993.
8. W.Schwind, D.Koditschek: "Control of forward velocity for a simplified planar hopping robot", Proc. of IEEE ICRA, pp.691-696, 1995.
9. R.Alexander: "Three uses for springs in legged locomotion", Int. J. Robotics Research, vol.9, no.2, pp.53-61, 1990.
10. C.Thompson, M.Raibert: "Passive dynamic running", Experimental Robotics I, eds. V.Hayward and O. Khatib., pp.74-83, Springer, 1989.
11. M.Ahmadi, M.Buehler: "Stable control of a simulated one-legged running robot with hip and leg compliance", IEEE Trans. on Robotics and Automation, vol.13, no.1, pp.96-104, 1997.
12. M.Ahmadi, M.Buehler: "The ARL Monopod II running robot: control and energetics", Proc. of IEEE ICRA, pp.1689-1694, 1999.
13. C.François, C.Samson: "A new approach to the control of the planar one-legged hopper", Int. J. Robotics Research, vol.17, no.11, pp.1150-1166, 1998.
14. Arnold, Mathematical Methods of Classical Mechanics, Springer, 1978.
15. K.Pyragas, "Continuous control of chaos by self-controlling feedback", Physi. Lett. A 170, pp.421-428, 1992.