Energy-preserving control of a passive one-legged running robot

Advanced Robotics

Volumn 18, Issue 4, 2004, Pages 357-381

  Hyon, Sang Ho ^a   Emura, Takashi ^a  

^a TOHOKU UNIVERSITY   (Japan)

Author keywords

Energy preserving control; Legged locomotion; Orbital stability; Passive running; Quasi periodic orbit

Indexed keywords

ASYMPTOTIC STABILITY; BIOMECHANICS; CHAOS THEORY; COMPUTER SIMULATION; CONTROL EQUIPMENT; FEEDBACK CONTROL; HAMILTONIANS; ROBUSTNESS (CONTROL SYSTEMS);

ENERGY-PRESERVING CONTROL; LEGGED LOCOMOTION; ORBITAL STABILITY; PASSIVE RUNNING; QUASIPERIODIC ORBITS;

ROBOTICS;

EID: 2342486084     PISSN: 01691864     EISSN: None     Source Type: Journal    
DOI: 10.1163/156855304773822464     Document Type: Article

References (24)

1. K. Masuoka, A mechanical model of repetitive hopping movements, Biomechanics 5, 251-258 (1980) (in Japanese).
2. M. Raibert, Legged robots that balance. MIT Press, Cambridge, MA (1985).
3. J. Hodgins and M. Raibert, Biped gymnastics, Int. J. Robotics Res. 9 (2), 115-132 (1990).
4. G. Zeglin and B. Brown, Control of a bow leg hopping robot, in: Proc. Int. Conf. on Robotics and Automation, Leuven, pp. 793-798 (1998).
5. S. H. Hyon, T. Emura and T. Mita, Dynamics-based control of one legged hopping robot, J. Syst. Control Engng 217 (2), 83-98 (2003).
6. D. Koditschek and M. Buehler, Analysis of a simplified hopping robot, Int. J. Robotics Res. 10 (6), 587-605 (1991).
7. R. M'Closkey and J. Burdick, Periodic motions of a hopping robot with vertical and forward motion, Int. J. Robotics Res. 12 (3), 197-218 (1993).
8. W. Schwind and D. Koditschek, Control of forward velocity for a simplified planar hopping robot, in: Proc. Int. Conf. on Robotics and Automation, Nagoya, pp. 691-696 (1995).
9. R. Alexander, Three uses for springs in legged locomotion, Int. J. Robotics Res. 9 (2), 53-61 (1990).
10. C. Thompson and M. Raibert, Passive dynamic running, in: Experimental Robotics I, V. Hayward and O. Khatib (Eds), pp. 74-83. Springer, Berlin (1989).
11. M. Ahmadi and M. Buehler, Stable control of a simulated one-legged running robot with hip and leg compliance, Trans. Robotics Automat. 13 (1), 96-104 (1997).
12. M. Ahmadi and M. Buehler, The ARL Monopod II running robot: control and energetics, in: Proc. Int. Conf. on Robotics and Automation, Antwerpen, pp. 1689-1694 (1999).
13. C. François and C. Samson, A new approach to the control of the planar one-legged hopper, Int. J. Robotics Res. 17 (11), 1150-1166 (1998).
14. T. McGeer, Passive bipedal running, in: Proc. Royal Society of London: Biological Sciences (1990).
15. S. Hyon and T. Emura, Quasi-periodic gaits of passive one-legged hopper, in: Proc. Int. Conf. on Intelligent Robotics and Systems, Lausanne, pp. 2625-2630 (2002).
16. H. Goldstein, C. Poole and J. Safko, Classical Mechanics, 3rd edn. Addison-Wesley, Reading, MA (2002).
17. V. I. Arnold, Mathematical Methods of Classical Mechanics. Springer, Berlin (1978).
18. K. Pyragas, Continuous control of chaos by self-controlling feedback, Phys. Lett. A170, 421-428 (1992).
19. T. Ushio, Limitation of delayed feedback control in nonlinear discrete-time systems, Trans. Circ. Sys. I 43, 815-816 (1996).
20. I. Poulakakis, E. Papadopoulos and M. Buehler, On the stable passive dynamics of quadruped running, in: Proc. Int. Conf. on Robotics and Automation, Taipei, pp. 1368-1373 (2003).
21. S. Hyon and T. Emura, Aerial posture control for 3D biped running using compensator around yaw axis, in: Proc. Int. Conf. on Robotics and Automation, Taipei, pp. 57-62 (2003).
22. T. Emura, S. Hyon, Y. Kuroda and M. Suzuki, A biped hopper controlled around yaw axis by body-twisting motion, in: Proc. Int. Conf. on Mechatronics, Longhborough, pp. 505-510 (2003).
23. T. McGeer, Passive dynamic walking, Int. J. Robotics Res. 9 (2), 62-82 (1990).
24. A. Goswami, B. Espiau and A. Keramame, Limit cycles and their stability in a passive biped gait, in: Proc. Int. Conf. on Robotics and Automation, Minneapolis, MN, pp. 246-251 (1996).