On the stable passive dynamics of quadrupedal running

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 2003, Pages 1368-1373

  Poulakakis, Ioannis ^a   Papadopoulos, Evangelos ^b   Buehler, Martin ^a  

^a MCGILL UNIVERSITY   (Canada)

^b NATIONAL TECHNICAL UNIVERSITY OF ATHENS   (Greece)

Author keywords

[No Author keywords available]

Indexed keywords

BIOMECHANICS; DYNAMICS; FEEDFORWARD NEURAL NETWORKS; MATHEMATICAL MODELS; MOTION CONTROL; PERTURBATION TECHNIQUES; RECURRENT NEURAL NETWORKS; SYSTEM STABILITY;

PASSIVE DYNAMICS; QUADRUPED ROBOT; QUADRUPEDAL RUNNING;

MOBILE ROBOTS;

EID: 0344013436     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (12)

1. Berkemeier M. D., "Modeling the Dynamics of Quadrupedal Running", in The Int. J. of Robotics Research, Vol. 17, No 9, pp. 971-985, 1998.
2. Beuhler M., "Dynamic Locomotion with One, Four and Six-Legged Robots", in J. of the Robotics Society of Japan, 20 (3), pp. 15-20, 2002.
3. Chigliazza R. M., Altendorfer R., Holmes P. and Koditschek D. E., "Passively Stable Conservative Locomotion", submitted to SIAM J. of Applied Dynamical Systems.
4. Cham J. G., Bailey S. A. and Cutkosky M. R., "Robust Dynamic Locomotion through Feedforward - Preflex Interaction", in ASME Int. Mechanical Engineers Congress and Exposition (IMECE), Orlando, FL, 2000.
5. Full R. J. and Koditschek D., "Templates and Anchors: Neuromechanical Hypotheses of Legged Locomotion on Land", in J. of Experimental Biology, 202, pp. 3325-3332, 1999.
6. Kubow T. and Full R., "The Role of the Mechanical System in Control: A Hypothesis of Self-stabilization in Hexapedal Runners" in Phil. Trans. of the Royal Society of London Series B - Biological Sciences 354 (1385), pp. 854-862, 1999.
7. McGeer T., "Passive Bipedal Running", Technical Report, CSS-IS TR 89-02, Simon Fraser University, Centre For Systems Science, Burnaby, BC, Canada, 1989.
8. Pearson K., "The Control of Walking", Scientific American, Vol. 72, pp. 86, 1976.
9. Poulakakis I., On the Passive Dynamics of Quadrupedal Running, M. Eng. Thesis, McGill University, Montreal, QC, Canada, July 2002.
10. Raibert M. H., Legged Robots that Balance, MIT Press, Cambridge MA, 1986.
11. Seyfarth A., Geyer H., Guenther M. and Blickhan R., "A Movement Criterion for Running", in J. of Biomechanics, Vol. 35, pp. 649-655, 2002.
12. Talebi S., Poulakakis I., Papadopoulos E. and Buehler M., "Quadruped Robot Running with a Bounding Gait" in Experimental Robotics VII, D. Rus and S. Singh (Eds.), pp. 281-289, Springer-Verlag, 2001.