Three additions to passive dynamic walking; actuation, an upper body, and 3D stability

2004 4th IEEE-RAS International Conference on Humanoid Robots

Volumn 1, Issue , 2004, Pages 113-132

  Wisse, Martijn ^a  

^a DELFT UNIVERSITY OF TECHNOLOGY   (Netherlands)

Author keywords

3D; Biped; Dynamic

Indexed keywords

ACTUATORS; BIPED LOCOMOTION; COMPUTER SIMULATION; INTELLIGENT ROBOTS; MATHEMATICAL MODELS; SYSTEM STABILITY; WALKING AIDS;

3D; BIPED; DYNAMIC WALKING; HUMAN LOCOMOTION;

DYNAMICS;

EID: 17144423284     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (46)

1. J. Adolfsson. Passive control of mechanical systems; Bipedal walking and autobalancing. PhD thesis, Royal Institute of Technology, Stockholm, Sweden, 2001. ISSN 0348-467X.
2. J. Adolfsson, H. Dankowicz, and A. Nordmark. 3d passive walkers: Finding periodic gaits in the presence of discontinuities. Nonlinear Dynamics, 24(2):205-229, 2001.
3. F. Asano and M. Yamakita. Virtual gravity and coupling control for robotic gait synthesis. IEEE Trans. on Systems, Man and Cybernetics, Part A, 31(6):737-745, 2001.
4. C. Chevallereau, G. Abba, Y. Aoustin, F. Plestan, E. R. Westervelt, C. Canudas-De-Wit, and J. W. Grizzle. Rabbit: a testbed for advanced control theory. IEEE Control Systems Magazine, 23(5):57-79, October 2003.
5. C. P. Chou and B. Hannaford. Measurement and modeling of mckibben pneumatic artificial muscles. IEEE Transactions on Robotics and Automation, 12(1):90-102, February 1996.
6. M. J. Coleman. A Stability Study of a Three-dimensional Passive-dynamic Model of Human Gait. PhD thesis, Cornell University, Ithaca, NY, 1998.
7. M. J. Coleman, A. Chatterjee, and A. Ruina. Motions of a rimless spoked wheel: A simple 3d system with impacts. Dynamics and Stability of Systems, 12(3):139-160, 1997.
8. M. J. Coleman, M. Garcia, K. Mombaur, and A. Ruina. Prediction of stable walking for a toy that cannot stand. Physical Review E, 64(2):022901-1 - 022901-3, august 2001.
9. M. J. Coleman and A. Ruina. An uncontrolled toy that can walk but cannot stand still. Physical Review Letters, 80(16):3658 - 3661, April 1998.
10. S. H. Collins, M. Wisse, and A. Ruina. A two legged kneed passive dynamic walking robot. International Journal of Robotics Research, 20(7):607-615, July 2001.
11. G. T. Fallis. Walking toy ('improvement in walking toys'). U. S. Patent, No. 376,588, January 17 1888.
12. M. Garcia. Stability, Chaos, and Scaling Laws: Passive-Dynamic Gait Models. PhD thesis, Cornell University, Ithaca, NY, 1998.
13. M. Garcia, A. Chatterjee, A. Ruina, and M. J. Coleman. The simplest walking model: Stability, complexity, and scaling. ASME J. Biomech. Eng., 120(2):281-288, April 1998.
14. A. Goswami. Foot-rotation indicator (fri) point: A new gait planning tool to evaluate postural stability of biped robots. In Proc., IEEE International Conference on Robotics and Automation, pages 47-52, 1999.
15. A. Goswami, B. Thuilot, and B. Espiau. A study of the passive gait of a compass-like biped robot: symmetry and chaos. Intern. J. Robot. Res., 17(12):1282-1301, December 1998.
16. D. G. E. Hobbelen and M. Wisse. Ankle joints and flat feet in dynamic walking, to appear at CLAWAR, Madrid, 2004.
17. Y. Hurmuzlu. Dynamics of bipedal gait; part ii: Stability analysis of a planar five-link biped. ASME Journal of Applied Mechanics, 60(2):337-343, 1993.
18. M. J. Ijzerman, G. Baardman, H. J. Hermens, P. H. Veltink, H. B. K. Boom, and G. Zilvold. The influence of the reciprocal cable linkage in the advanced reciprocating gait orthosis on paraplegic gait performance. Prosthetics and orthotics international, 21:52-61, 1997.
19. A. D. Kuo. Stabilization of lateral motion in passive dynamic walking. Int. J. Robot. Res., 18(9):917-930, September 1999.
20. Y. Kuroki, M. Fujita, T. Ishida, K. Nagasaka, and J. Yamaguchi. A small biped entertainment robot exploring attractive applications. In Proc., IEEE International Conference on Robotics and Automation, pages 471-476, 2003.
21. Delft Biorobotics Laboratory. (http://dbl.tudelft.nl/).
22. T. McGeer. Powered flight, child's play, silly wheels, and walking machines. In Proc., IEEE International Conference on Robotics and Automation, pages 1592-1597, Piscataway, NJ, 1989.
23. T. McGeer. Passive dynamic walking. Intern. J. Robot. Res., 9(2):62-82, April 1990.
24. S. Mochon and T. A. McMahon. Ballistic walking. J. Biomechanics, 13:49-57, 1980.
25. K. Ono, R. Takahashi, and T. Shimada. Self-excited walking of a biped mechanism. International Journal of Robotics Research, 20(12):953-966, 2001.
26. K. Ono, F. Takasahi, and R. Takahashi. Self-excited walking of a biped mechanism with feet. International Journal of Robotics Research, 23(1):55-68, 2004.
27. P. T. Piiroinen. Recurrent Dynamics of Nonsmooth Systems with Application to Human Gait. PhD thesis, Royal Institute of Technology, Stockhohn, Sweden, 2002.
28. J. Pratt and G. Pratt. Exploiting natural dynamics in the control of a 3d bipedal walking simulation. In Proc. International Conference on Climbing and Walking Robots, CLAWAR, Portsmouth, UK, 1999.
29. J. E. Pratt, C.-M. Chew, A. Torres, P. Dilworth, and G. Pratt. Virtual model control: An intuitive approach for bipedal locomotion. International Journal of Robotics Research, 20(2):129-143, 2001.
30. H. J. Ralston. Energy-speed relation and optimal speed during level walking. Int. z. angew. Physiol., 17:277-283, 1958.
31. Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki, and M. Fujita. The intelligent asimo: System overview and integration. In Proc., International Conference on Intelligent Robots and Systems, pages 2478-2483, 2002.
32. A. L. Schwab and M. Wisse. Basin of attraction of the simplest walking model. In Proc., International Conference on Noise and Vibration, Pennsylvania, 2001. ASME. Paper number DETC2001/VIB-21363 (9 pages).
33. M. W. Spong and F. Bullo. Controlled symmetries and passive walking. In IFAC Triennial World Congress, Barcelona, Spain, 2002.
34. R. Tedrake, T.W. Zhang, M.-F. Fong, and H.S. Seung. Actuating a simple 3d passive dynamic walker. In Proc., IEEE International Conference on Robotics and Automation, 2004.
35. R. Q. vd. Linde. Active leg compliance for passive walking. In Proc., IEEE International Conference on Robotics and Automation, pages 2339-2344, May 1998.
36. R. Q. vd. Linde. Design, analysis and control of a low power joint for walking robots, by phasic activation of mckibben muscles. IEEE Trans. Robotics and Automation, 15(4):599-604, August 1999.
37. R. Q. vd. Linde. Passive bipedal walking with phasic muscle contraction. Biological Cybernetics, 81(3):227-237, September 1999.
38. M. Vukobratovic. How to control the artificial anthropomorphic systems. IEEE Trans. System, Man and Cybernetics SMC-3, pages 497-507, 1973.
39. M. Vukobratovic and B. Borovac. Zero-moment point - thirty five years of its life. International Journal of Humanoid Robotics, 1(1):157-173, March 2004.
40. W. Weber and E. Weber. Mechanik der Menschlichen Gehwerkzeuge. 1836.
41. M. Wisse, D. G. E. Hobbelen, and A. L. Schwab. Adding the upper body to passive dynamic walking robots by means of a reciprocating hip mechanism. Submitted to IEEE Transactions on Robotics, 2004.
42. M. Wisse and A. L. Schwab. A 3d passive dynamic biped with roll and yaw compensation. Robotica, 19:275-284, 2001.
43. M. Wisse and A. L. Schwab. Skateboards, bicycles, and 3d biped walkers; velocity dependent stability by means of lean-to-yaw coupling. Submitted to International Journal of Robotics Research, 2004.
44. M. Wisse, A. L. Schwab, and F. C. T. van der Helm. Passive dynamic walking model with upper body, to appear in ROBOTICA, 2004.
45. M. Wisse, A. L. Schwab, R. Q. van der Linde, and F. C. T. van der Helm. How to keep from falling forward; elementary swing leg action for passive dynamic walkers. Submitted to IEEE Transactions on Robotics, 2004.
46. M. Wisse and J. van Frankenhuyzen. Design and construction of mike; a 2d autonomous biped based on passive dynamic walking. In Proc., Conference on Adaptive Motion of Animals and Machines, AMAM, Kyoto, Japan, 2003. Paper number WeP-I-1 (8 pages).