Contact phase invariant control for humanoid robot based on variable impedant inverted pendulum model

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 2003, Pages 51-56

  Sugihara, Tomomichi ^a   Nakamura, Yoshihiko ^a,b  

^a UNIVERSITY OF TOKYO   (Japan)

^b JAPAN SCIENCE AND TECHNOLOGY AGENCY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

CONTACT PHASE INVARIANT CONTROL; HUMANOID ROBOT; MANIPULATION; NON-HOLONOMIC CONSTRAINT; RESPONSIVE MOTION OF THE ROBOT; VARIABLE IMPEDANCE INVERTED PENDULUM MODEL;

COMPUTATIONAL COMPLEXITY; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); INVERSE PROBLEMS; MANIPULATORS; MOTION CONTROL; MOTION PLANNING;

MOBILE ROBOTS;

EID: 0344013629     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (20)

1. Ferdinand Gubina, Hooshang Hemami and Robert B.McGhee. On the Dynamic Stability of Biped Locomotion. IEEE Transactions on Bio-Medical Engineering, BME-21 (2):102-108, 1974.
2. Hirofumi Miura and Isao Shimoyama. Dynamic Walk of a Biped. The International Journal of Robotics Research, 3(2):60-74, 1984.
3. A.Sano J.Furusho. Sensor-based control of a ninelink biped. The International Journal of Robotics Research, 9(2):83-98, 1990.
4. S. Kajita and K. Tani. Experimental Study of Biped Dynamic Walking in the Linear Inverted Pendulum Mode. In Proceedings of the 1995 IEEE International Conference on Robotics & Automation, pages 2885-2819, 1995.
5. Kazuo Hirai, Masato Hirose, Yuji Haikawa and Toru Takenaka. The Development of Honda Humanoid Robot. In Proceeding of the 1998 IEEE International Conference on Robotics & Automation, pages 1321-1326, 1998.
6. Jin'ichi Yamaguchi, Sadatoshi Inoue, Daisuke Nishino and Atsuo Takanishi. Development of a Bipedal Humanoid Robot Having Antagonistic Driven Joints and Three DOF Trunk. In Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 96-101, 1998.
7. Koichi Nishiwaki, Tomomichi Sugihara, Satoshi Kagami, Masayuki Inaba and Hirochika Inoue. Online Mixture and Connection of Basic Motions for Humanoid Walking Control by Footprint Specification. In Proceedings of the 2001 IEEE International Conference on Robotics & Automation, pages 4110-4115, 2001.
8. Marc H.Raibert. Legged Robots That Balance. MIT Press, 1986.
9. Ken'ichiro Nagasaka. The Whole-body Motion Generation of Humanoid robot Using Dynamics Filter (Japanese). PhD thesis, Univ. of Tokyo, 2000.
10. Katsu Yamane and Yoshihiko Nakamura. Dynamics Filter - Concept and Implementation of On-Line Motion Generator for Human Figures. In Proceedings of the 2000 IEEE International Conference on Robotics & Automation, pages 688-695, 2000.
11. Shuuji Kajita, Takashi Nagasaki, Kazuhito Yokoi, Kenji Kaneko and Kazuo Tanie. Running Pattern Generation for a Humanoid Robot. In Proceedings of the 2002 IEEE International Conference on Robotics & Automation, pages 2755-2761, 2002.
12. T.Hirano, T.Sueyoshi and A.Kawamura. Development of ROCOS(Robot ControlSimulator) - Jump of human-type biped root by the adaptive impedance control. In Proceeding of 6th International Workshop on Advanced Motion Control, 2000.
13. T.Mita and T.Ikeda. Proposal of a Variable Constraint Control for SMS and Its Application to Running and Jumping Quadruped. In IEEE International Conference on System, Man and Cybernetics, 1999.
14. Keisuke Arikawa and Tsutomu Mita. Design of Multi-DOF Jumping Robot. In Proceedings of the 2002 IEEE International Conference on Robotics & Automation, pages 3992-3997, 2002.
15. F.Pfeiffer, K.Löffler and M.Gienger. The Concept of Jogging JOHNNIE. In Proceedings of the 2002 IEEE International Conference on Robotics & Automation, pages 3129-3135, 2002.
16. Tomomichi Sugihara, Yoshihiko Nakamura, and Hirochika Inoue. Realtime Humanoid Motion Generation through ZMP Manipulation based on Inverted Pendulum Control. In Proceedings of the 2002 IEEE International Conference on Robotics & Automation, pages 1404-1409, 2002.
17. M. Vukobratović and J. Stepanenko. On the Stability of Anthropomorphic Systems. Mathematical Biosciences, 15(1):1-37, 1972.
18. http://www.automation.fujitsu.com/products products07.html(Japanese).
19. S. Kagami, F. Kanehiro, Y. Tamiya, M. Inaba and H. Inoue. AutoBalancer: An Online Dynamic Balance Compensation Scheme for Humanoid Robots. In Proceedings of the 4th International Workshop on Algorithmic Foundation on Robotics(WAFR'00), 2000.
20. David E.Orin and William W.Schrader. Efficient Computation of the Jacobian for Robot Manipulators. The International Journal of Robotics Research, 3(4):66-75, 1984.