On Finding the Relevant Dynamics for Model-Based Controlling Walking Robots

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 37, Issue 4, 2003, Pages 375-398

  Garcia, E ^a   Galvez, J A ^a   Gonzalez De Santos, P ^a  

^a Consejo Superior de Investigaciones Científicas   (Spain)

Author keywords

Dynamic modeling; Model based control; Robot dynamics; Walking robots

Indexed keywords

CONTROL SYSTEMS; DEGREES OF FREEDOM (MECHANICS); ELASTICITY; EQUATIONS OF MOTION; MATHEMATICAL MODELS; MOTION CONTROL; REAL TIME SYSTEMS; TORQUE;

ROBOT DYNAMICS;

ROBOTS;

EID: 0242636359     PISSN: 09210296     EISSN: None     Source Type: Journal    
DOI: 10.1023/A:1026104815610     Document Type: Article

References (19)

1. Armstrong, B.: On finding excitation trajectories for identification experiments involving systems with nonlinear dynamics, Internat. J. Robotic Res. 8(6) (1989), 28-48.
2. Bennani, M. and Giri, F.: Dynamic modelling of a four-legged robot, J. Intelligent Robotic Systems 17 (1996), 419-428.
3. Craig, J. J.: Introduction to Robotics, 2nd edn, Addison-Wesley, Reading, MA, 1989.
4. Dettman, J.: Mathematical Methods in Physics and Engineering, Dover, New York, 1988.
5. Fu, K. S., Gonzalez, R. C., and Lee, C. S. G.: Robotics, McGraw-Hill, 1987.
6. Garcia, E. and Gonzalez de Santos, P.: Using soft computing techniques for improving foot trajectories in walking machines, J. Robotic Systems 18(7) (2001), 343-356.
7. Garcia, E., Gonzalez de Santos, P., and Canudas de Wit, C.: Velocity dependence in the cyclic friction arising with gears, Internat. J. Robotic Res. 21(9) (2002), 761-771.
8. Lamit, L. G.: Pro/ENGINEER 200012, BROOKS/COLE, Thomson Learning, 2001.
9. Manko, D.: A General Model of Legged Locomotion on Natural Terrain, Kluwer Academic Publishers, Dordrecht, 1992.
10. Mayeda, H., Osuka, K., and Kangawa, A.: A new identification method for serial manipulator arms, in: IFAC 9th World Congress, Budapest, 1984, Vol. 6, pp. 74-79.
11. Monagan, M., Geddes, K., Labahn, G., and Vorkoetter, S.: MapleV Programming Guide, Maple Waterloo Software, 1998.
12. Ogata, K.: Modern Control Engineering, 3rd edn, Prentice-Hall, Englewood Cliffs, NJ, 1996.
13. Pfeiffer, F. and Rossmann, T.: About friction in walking machines, in: Proc. of IEEE Internat. Conf. on Robotics and Automation, San Francisco, CA, 2000, pp. 2165-2172.
14. Pfeiffer, F. and Weidemann, H. J.: Dynamics of the walking stick insect, IEEE Control Systems Mag. 11(2) (1991), 9-13.
15. Sciavicco, L. and Siciliano, B.: Modelling and Control of Robot Manipulators, 2nd edn, Springer, London, 2000.
16. Shing, T. K.: Dynamics and control of geared servomechanisms with backlash and friction consideration, PhD Thesis, The University of Maryland, 1994.
17. Spong, M. W.: Modeling and control of elastic joint robots, ASME J. Dyn. Systems Measm. Control 109 (1987), 310-319.
18. Swevers, J., Ganseman, C., Chenut, X., and Samin, J.: Experimental identification of robot dynamics for control, in: Proc. of IEEE Internat. Conf. on Robotics and Automation, San Francisco, CA, 2000, pp. 241-246.
19. Zhou, D., Low, K., and Zielinska, T.: A stability analysis of walking robots based on leg-end supporting moments, in: Proc. of IEEE Internat. Conf. on Robotics and Automation, San Francisco, CA, 2000, pp. 2834-2839.