Time-scaling control for an underactuated biped robot

IEEE Transactions on Robotics and Automation

Volumn 19, Issue 2, 2003, Pages 362-368

  Chevallereau, C ^a  

^a INSTITUT DE RECHERCHE EN COMMUNICATIONS ET CYBERNÉTIQUE DE NANTES   (France)

Author keywords

Biped robot; Control; Limit cycle; Stability; Underactuated system; Walking

Indexed keywords

ACTUATORS; BIPED LOCOMOTION; COMPUTATIONAL GEOMETRY; CONVERGENCE OF NUMERICAL METHODS; TIME VARYING CONTROL SYSTEMS;

UNDERACTUATED BIPED ROBOTS;

ROBOTICS;

EID: 0037387657     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRA.2003.808863     Document Type: Article

References (15)

1. C. Chevallereau and Y. Aoustin, "Optimal reference trajectories for walking and running of a biped robot," Robotica, vol. 19, no. N5, pp. 557-569, 2001.
2. Y. Aoustin and A. M. Formal'sky, "Design of reference trajectory to stabilize desired nominal cyclic gait of a biped," in Proc. ROMOCO'99, Kiekrz, Poland, 1999, pp. 159-164.
3. J. W. Grizzle, G. Abba, and F. Plestan, "Asymptotically stable walking for biped robots: analysis via systems with impulse effects," IEEE Trans. Automat. Contr., vol. 46, pp. 51-64, Jan. 2001.
4. C. Chevallereau and L. Adouane, "On-line reference trajectory adaptation for the control of a planar biped," in Proc. Conf. Climbing and Walking Robots CLAWAR 2002, Paris, France, 2002, pp. 427-436.
5. F. Gubina, H. Hemami, and R. McGhee, "On the dynamic stability of biped locomotion," IEEE Trans. Biomed Eng., vol. BME-21, pp. 102-108, Feb. 1974.
6. C. Canudas de Witt, B. Espiau, and C. Urrea, "Orbital stabilization of underactuated mechanical systems," in Proc. IFAC World Congr. 2002, Barcelona, Spain, July 2002, CD-ROM.
7. P. B. Wieber, "Modeling and control of an anthropomorphic walking robot," Ph.D. dissertation, Ecole des Mines de Paris, Paris, France. Dec. 2000.
8. C. Azevedo, "Trajectory tracking for an underactuated double inverted pendulum," Master's thesis, INRIA Rhone Alpes, Monbonnot, France, June 1999. In French.
9. O. Dahl and L. Nielsen, "Torque-limited path following by online trajectory time scaling," IEEE Trans, Robot. Automat., vol. 6, pp. 554-561, Oct. 1990.
10. H. Arai, K. Tanie, and N. Shiroma, "Time-scaling control of an under-actuated manipulator," J. Robot. Syst., vol. 15, pp. 525-536, Sept. 1998.
11. "Project "Control of a biped on walking and running gaits"," Centre National de la Recherche Scientifique Robea Program, Paris, France.
12. J. Furusho, M. Sano, M. Sakaguchi, and E. Koizumi, "Realization of bounce gait in a quadruped robot with articular joint-type legs," in Proc. IEEE Conf. Robotics and Automation, Capri, Italy, 1995, pp. 697-702.
13. S. Kajita and K. Tani, "Experimental study of biped dynamic walking in the linear inverted pendulum mode," in Proc. IEEE Int. Conf. Robotics and Automation, 1995, pp. 2885-2891.
14. S. P. Bhat and D. S. Bernstein, "Continuous finite time stabilization of the translational and rotational double integrators," IEEE Trans. Automat. Contr., vol. 43, pp. 678-682, May 1998.
15. (2001). Honda Humanoid Robots, Offenbach, Germany. [Online], Available: http://www.honda-p3.com