A biped hopper controlled around yaw axis by body-twisting motion

International Conference on Mechatronics, ICOM 2003

Volumn , Issue , 2003, Pages 505-510

  Emura, T ^a   Hyom, S H ^a   Kuroda, Y ^a   Suzuki, M ^a  

^a TOHOKU UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER HARDWARE; COMPUTER SIMULATION; MATHEMATICAL MODELS; MICROCOMPUTERS; PERFORMANCE; ROTORS; SOFTWARE PROTOTYPING; STABILIZATION;

BIPED ROBOTS; LATERAL STABILISATION; TWISTING MOTION; YAW AXIS;

ROBOTS;

EID: 2342502367     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

1. Hirai, K. Hirose, M., Haikawa, Y. and Takenaka, T. (1998) The development of the Honda Humanoid robot. In Proc. of IEEE International Conference on Robotics and Automation, pp.1321-1326.
2. Collins, S., Wisse, M. and Ruina, A. (2001) A three-dimensional passive-dynamic walking robot with two legs and knees. International Journal of Robotics Research, Vol. 20, No.7, pp.607-615.
3. Raibert, M. (1985) Legged robots that balance. MIT Press.
4. Playter, R. and Raibert, M. (1992) Control of a biped somersault in 3D. In Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.582-589.
5. Hyon, S. and Emura, T. (2003) Aerial Posture Control for 3D Biped Running Using Compensator around Yaw Axis. In Proc. of IEEE International Conference on Robotics and Automation (accepted).
6. Kuo, D. (1999) Stabilization of Lateral Motion in Passive Dynamic Walking. International Journal of Robotics Research, pp.917-930.