BIPedal walking: From gait design to experimental analysis

Mechatronics

Volumn 14, Issue 6, 2004, Pages 639-665

  Azevedo, Christine ^a,c   Andreff, Nicolas ^b   Arias, Soraya ^a  

^a INRIA   (France)

^b IFMA   (France)

^c AALBORG UNIVERSITY   (Denmark)

Author keywords

Biomechanics; Bipedal walking; Control architecture; Gait design; Performance evaluation

Indexed keywords

ANTHROPOMORPHIC ROBOTS; BIOMECHANICS; GAIT ANALYSIS; MATHEMATICAL MODELS; MECHATRONICS; OPTIMIZATION; ROBUSTNESS (CONTROL SYSTEMS);

BIPEDAL WALKING; CONTROL ARCHITECTURE; GAIT DESIGN; PERFORMANCE EVALUATION;

BIPED LOCOMOTION;

EID: 1842560221     PISSN: 09574158     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechatronics.2003.12.001     Document Type: Article

References (41)

1. Armstrong-Hélouvry B. Control of machines with friction. 1991;Kluwer Academic Publishers.
2. Azevedo Ch, Andreff N, Arias S, Espiau B. Experimental BIPedal walking. In: 8th International Symposium on Experimental Robotics (ISER). Sant'Angelo d'Ischia, Italy: July 2002.
3. Azevedo Ch, Poignet Ph, Espiau B. On line optimal control for biped robots. In: 15th IFAC World Congress on Automatic Control. Barcelona, Spain: July 2002.
4. Azevedo Ch. The BIP team. Control Architecture and Algorithms of the Anthropomorphic Biped BIP2000. In: International Conference on Climbing And Walking Robots (CLAWAR). Madrid, Spain: October 2000. p. 285-93.
5. Baille G, Di Giacomo P, Mathieu H, Pissard-Gibollet R. L'armoire de commande du robot bipède BIP2000. Technical Report 0243, INRIA, 2000.
6. Berry G. The Constructive Semantics of ESTEREL. Available from: http://www.inria.fr/meije/esterel/esterel-eng.html, Draft book edition, 1996.
7. Berry G, Gonthier G. The ESTEREL synchronous programming, language: design, semantics, implementation. ENS des Mines de Paris, 1991.
8. Bischoff R. System reliability and safety concepts of the humanoid service robot hermes. In: IARP/IEEE-RAS Joint Workshop on Technical Challenge for Dependable Robots in Human Environments, vols. I-2. May 2001.
9. Cappozzo A. Gait analysis methodology. Human Movement Sci. 3:1984;27-50.
10. Cherrid H, Nadjar-Gauthier N, M'Sirdi NM, Errahimi F. The second order sliding mode control for a bipedal walking robot. In: International Conference on Walking and Climbing Robots (CLAWAR). Madrid, Spain: October 2000. p. 415-24.
11. Chevallereau C, Formal'sky A, Perrin B. Low energy cost reference trajectories for a biped robot. In: IEEE International Conference on Robotics and Automation (ICRA). Leuven, Belgium: May 1998. p. 1398-1404.
12. Chew CM, Pratt GA. A general control architecture for dynamic bipedal walking. In: IEEE International Conference on Robotics and Automation (ICRA), vol. 4. San Francisco, USA: April 2000. p. 3989-95.
13. Coste-Manière E, Turro N. The MAESTRO language and its environment: specification, validation and control of robotic missions. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'97, vol. 2. Grenoble, France: September 1997. p. 836-841. Available from: http://www.inria.fr/icare/maestro/.
14. Coste-Manière E, Turro N, Khatib O. A portable programming framework. In: 6th International Symposium on Experimental Robotics (ISER). Sydney, Australia: March 1999.
15. Denk J, Schmidt G. Walking primitive synthesis for an anthropomorphic biped using optimal control techniques. In: International Conference on Climbing and Walking Robots (CLAWAR). Karlsruhe, Germany: September 2001. p. 819-26.
16. Espiau B. The Bip team. Bip: a joint project for the development of an anthropomorphic biped robot. In: International Conference on Advanced Robotics (ICAR). Monterey, Canada: July 1997. p. 267-72.
17. Espiau B, Génot F. La robotique mobile - Hermes, 2002.
18. Espiau B, Sardain P. The anthropomorphic biped robot bip2000. In: IEEE International Conference on Robotics and Automation (ICRA). San Francisco, USA: April 2000. p. 3997-4002.
19. Gage JR. An overview of normal walking. volume XXXVIII. American Academy of Orthopaedic Surgeons, Instructional Course Lectures, 1990.
20. Gienger K, Loeffler M, Pfeiffer F. Towards the design of a biped jogging robot. In: IEEE International Conference on Robotics and Automation (ICRA). Seoul, Korea: May 2001.
21. Gienger M, Löffler K, Pfeiffer F. A biped robot that jogs. In: IEEE International Conference on Robotics and Automation (ICRA), vol. 4. San Francisco, USA: April 2000. p. 3334-9.
22. Guihard M, Gorce P. Dynamic control of a biomechanical inspired robot: Bipman. In: Proceedings of the International Conference on Climbing and Walking Robots (CLAWAR). Karlsruhe, Germany: 2001.
23. Hirai K, Hirose M, Haikawa Y, Takenaka T. The development of the honda humanoid robot. In: IEEE International Conference on Robotics and Automation (ICRA). Leuven, Belgium: May 1998. p. 1321-6.
24. Kapellos K, Simon D, Granier S, Rigaud V. Distributed control of a free-floating underwater manipulation system. In: International Symposium on Experimental Robotics (ISER). Barcelona, Spain: June 1997.
25. Large F, Sekhavat S, Laugier Ch, Gauthier E. Towards robust sensor-based maneuvers for a car-like vehicle. In: IEEE International Conference on Robotics and Automation (ICRA), vol. 4. San Francisco, USA: April 2000. p. 3765-70.
26. Lydoire F, Azevedo Ch, Espiau B, Poignet Ph. 3d parametrized gaits for biped walking. In: International Conference on Climbing And Walking Robots (CLAWAR). Paris, France: September 2002. p. 749-57.
27. McMahon T.A. Mechanics of locomotion. Int. J. Robot. Res. 3-2:1984;4-28.
28. Nubar Y, Contini R. A minimal principle in biomechanics. In: Bulletin of Mathematical Biophysics. 1961.
29. Paluska D. Design of a Humanoid Biped for Walking Research. Master's, Massachusetts Institute of Technology, Cambridge, USA, 2000.
30. Park J.H., Chung H. Hybrid control of biped robots to increase stability in locomotion. J. Robot. Syst. 17:2000;187-197.
31. Pissard-Gibollet R, Kapellos K, Rives P, Borrelly JJ. Real-time programming of mobile robot actions using advanced control techniques. In: Fourth International Symposium on Experimental Robotics (ISER). Stanford, USA: June 1995.
32. Rose J., Gamble J.G. Human walking. 1994;William and Wilkins, Baltimore, USA.
33. Rostami M, Bessonnet G, Sardain P. Optimal gait synthesis of a planar biped. In: Proceedings of the 3rd International Workshop on Motion Control. Grenoble, France: 1998. p. 185-90.
34. Roussel L, Canudas de Wit C, Goswami A. Generation of energy-optimal complete gait cycles for biped robots. In: Proceedings of the IEEE International Conference on Robotics and Automation. Leuven, Belgium: May 1998. p. 2036-41.
35. Sardain P., Rostami M., Bessonnet G. An anthropomorphic biped robot: dynamic concepts and technological design. IEEE Trans. Syst., Man, Cybernet. 28:1997;823-838.
36. The Orccad Team. An integrated and modular approach for the specification, the validation and the implementation of complex robotics missions. J Robot Res 1988;17(4):338-359. Special Issue on Integrated Architectures for Robot Control and Programming.
37. Vaughan C.L., Davis B., O'Connor J.C. Dynamics of human gait. Human kinetics. 1992;Champaign.
38. Wieber P-B. Modélisation et Commande d'un Robot Marcheur Anthropomorphe. Thèse de doctorat, École Nationale Supérieure des Mines de Paris, France, 2000.
39. Yamaguchi J, Soga E, Inoue S, Takanishi A. Development of a bipedal humanoid robot - control method of whole body cooperative dynamic biped walking. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Detroit, USA: May 1999. p. 368-74.
40. Yamasaki F., Matsui T., Miyashita T., Kitano H. Pino the humanoid: a basic architecture. Lecture Notes Comput. Sci. 0-2019:2001;269-278.
41. Zatsiorsky V.M., Werner S.L., Kaimin M.A. Basic kinematics of walking. J. Sports Med. Phys. Fitness. 34(2):1994;109-134.