Robustness of the dynamic walk of a biped robot subjected to disturbing external forces by using CMAC neural networks

Robotics and Autonomous Systems

Volumn 51, Issue 2-3, 2005, Pages 81-99

  Sabourin, Christophe ^a   Bruneau, Olivier ^a  

^a Laboratoire Vision et Robotique   (France)

Author keywords

CMAC neural networks; Dynamic walking gait; Robustness; Under actuated biped robot

Indexed keywords

ASYMPTOTIC STABILITY; BIPED LOCOMOTION; LEARNING SYSTEMS; NEURAL NETWORKS; REAL TIME SYSTEMS; ROBUSTNESS (CONTROL SYSTEMS); TRAJECTORIES;

CMAC; DYNAMIC WALKING GAIT; ROBUSTNESS; UNDER-ACTUATED BIPED ROBOT;

ROBOTS;

EID: 16644388425     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2005.02.001     Document Type: Article

References (31)

1. Y. Sakagami The intelligent ASIMO: system overview and integration Proc. IEEE Conf. Robot. Autom. 2002 2478 2483
2. F. Kaneko Humanoid robot HRP-2 Proc. IEEE Conf. Robot. Autom. 2004 1083 1090
3. S. Kajita Biped walking pattern generation by using preview control of Zero-Moment Point Proc. IEEE Conf. Robot. Autom. 2003 1620 1626
4. K. Hirai, M. Hirose, Y. Haikawa, and T. Takensa The development of Honda humanoid robot Proc. IEEE Conf. Robot. Autom. 1998 1321 1326
5. H. Lim, and A. Takanishi Online walking pattern generation for biped humanoid robot with trunk Proc. IEEE Conf. Robot. Autom. 2002 3111 3116
6. K. Loffler, M. Gienger, and F. Pfeiffer Sensor and control design of a dynamically stable biped robot Proc. IEEE Conf. Robot. Autom. 2003 484 490
7. Q. Huang Balance control of a biped robot combining off-line pattern with real-time modification Proc. IEEE Conf. Robot. Autom. 2000 3346 3352
8. C. Avezedo the BIP team Control architecture and algorithms of the anthropomorphic biped BIP2000 Proc. Climbing Walking Robots 2000 285 293
9. M. Vukobratovic, B. Bocovac, D. Surla, and D. Stokic Biped Locomotion Scientific Fundamentals of Robotics vol. 7 1990 Springer-Verlag
10. A. Goswami Foot rotation indicator (FRI) point: a new gait planning tool to evaluate postural stability of biped robots Proc. IEEE Conf. Robot. Autom. 1999 47 52
11. J. Foret, O. Bruneau, and J.-G. Fontaine Unified approach for m-stability analysis and control of legged robots Proc. IEEE Conf. Intell. Robots Syst. 2003 106 111
12. A. Goswami, B. Espiau, and A. Keramane Limit cycles and their stability in passive bipedal gait Proc. IEEE Conf. Robot. Autom. 1996 246 251
13. M.S. Garcia, A. Chatterjee, and A. Ruina Efficiency, scaling, and speed in two dimensional passive-dynamic walking Dyn. Stabil. Syst. 15 2 2000 75 99
14. C. Chevallereau, A. Formal'sky, and B. Perrin Low energy cost reference trajectories for a biped robot Proc. IEEE Conf. Robot. Autom. 1998 1398 1404
15. F. Yamasaki, K. Hosoda, and M. Asada An energy consumption based control for humanoid walking Proc. IEEE Conf. Robot. Autom. 2002 2473 2477
16. J. Pratt, and G. Pratt Virtual model control: an intuitive approach for bipedal locomotion Int. J. Robot. Res. 20 2 2001 129 143
17. C. Sabourin, O. Bruneau, and J.-G. Fontaine Intuitive and fuzzy control of and under-actuated robot without references trajectories Proceedings of the 11th World Congress in Mechanism and Machine Science 2004 1736 1740
18. M.A. Lewis, and L.S. Simo Certain principles of biomorphic robots Auton. Robots 11 3 2001 211 216
19. J. Hu, J. Pratt, and G. Pratt Stable adaptative control of a bipedal walking robot with CMAC neural networks Proc. IEEE Conf. Robot. Autom. 1999 1050 1056
20. W. Salatain, K.Y. Yi, and Y.F. Zheng Reinforcement learning for a biped robot to climb slopping surfaces J. Robot. Syst. 14 4 1997 283 296
21. C. Chevallereau, and P. Sardain Design and actuation of a 4 axes biped robot for walking and running Proc. IEEE Conf. Robot. Autom. 2000 3365 3370
22. http://www.robot-rabbit.lag.ensieg.inpg.fr/.
23. C. Sabourin, O. Bruneau, and J.-G. Fontaine Start, stop and transition of velocities on an under-actuated bipedal robot without reference trajectories Int. J. Humanoid Robot. 1 2 2004 349 374
24. J.S. Albus A new approach to manipulator control: the cerebellar model articulation controller (CMAC) Trans. ASME 1975 220 227
25. J.S. Albus Data storage in the cerebellar model articulation controller J. Dyn. Syst. Meas. Control 1975 228 233
26. http://www.laas.fr/robea/.
27. O. Bruneau, and F.B. Ouezdou Distributed ground/walking robot interactions Robotica 17 3 1999 313
28. W.T. Miller, F.H. Glanz, and L.G. Kraft CMAC: an associative neural network alternative to backpropagation IEEE Proc. 78 1990 1561 1567
29. A.L. Kun, and W.T. Miller Adaptive dynamic balance of a biped robot using neural networks Proc. IEEE Conf. Robot. Autom. 1996 240 245
30. A. Brenbrahim, and J. Franklin Biped dynamic walking using reinforcement learning Robot. Auton. Syst. 22 1997 283 302
31. J.W. Grizzle, G. Abba, and F. Plestan Asymptotically stable walking for biped robots: analysis via systems with impulse effects IEEE Trans. Autom. Control 46 1 2001 51 64