Planar bipedal walking with foot rotation

Proceedings of the American Control Conference

Volumn 7, Issue , 2005, Pages 4909-4916

  Choi, Jun Ho ^a   Grizzle, J W ^a  

^a UNIVERSITY OF MICHIGAN   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL EQUIPMENT; MOTION ESTIMATION; PROBLEM SOLVING; ROBOTS;

ACTUATED ANKLES; FOOT ROTATION; PLANAR BIPEDAL WALKING; WALKING MOTION;

WALKING AIDS;

EID: 23944478336     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (28)

1. H. H. R. Site, "www.honda.co.jp/roboty," January 2003.
2. K. Hirai, M. Hirose, Y. Haikawa, and T. Takenake, "The development of Honda humanoid robot," in Proc. of the IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 1998, pp. 1321-1326.
3. S. D. S. B. E. Robot, "www.sony.net/SonyInfo/News/Press/200203/ 020319E/," January 2003.
4. Johnnie - The TUM Biped Walking Robot, "www.amm.mw.tumuenchen.de/ Misc/Messe/hanmesse-e.html," January 2003.
5. F. Pfeiffer, K. Loffler, and M. Gienger, "The concept of jogging johnnie," in Proc. of the IEEE International Conference on Robotics and Automation, Washington, DC, May 2002.
6. Y. Hurmuzlu, "Dynamics of bipedal gait - part 1: objective functions and the contact event of a planar five-link biped," Journal of Applied Mechanics, vol. 60, pp. 331-336, June 1993.
7. _, "Dynamics of bipedal gait - part 2: stability analysis of a planar five-link biped," Journal of Applied Mechanics, vol. 60, pp. 337-343, June 1993.
8. M. Spong, "Passivity based control of the compass gait biped," in Proc. of IFAC World Congress, Beijing, China, July 1999.
9. M. Spong and F. Bullo, "Controlled symmetries and passive walking," in Proc. of IFAC World Congress, Barcelona, Spain, July 2002.
10. C.-L. Shih, "Ascending and descending stairs for a biped robot," IEEE Transactions on Systems, Man, and Cybernetics, vol. 29(3), pp. 255-268, May 1999.
11. K. Yi, "Walking of a biped robot with compliant ankle joints: implementation with kubca," in Proc. of the 39th IEEE Conf. Dec. and Control, Sydney, Australia, December 2000, pp. 4809-4814.
12. T. Takahashi and A. Kawamura, "Posture control for biped robot walk with foot toe and sole," in 27th Annual Conference of the IEEE Industrial Electronics Society, 2001, pp. 329-334.
13. J. Park, "Impedance conrol for biped locomotion," IEEE Transactions on Robotics and Automation, vol. 17(6), pp. 870-882, December 2001.
14. F. Silva and J. Tenreiro Machado, "Gait analysis of a human walker wearing robot feet as shoes," in Proc. of the IEEE International Conference on Robotics and Automation, Seoul, Korea, May 2001, pp. 4122-4127.
15. M. Morisawa, Y. Fujimoto, T. Murakami, and K. Ohnishi, "A walking pattern generation for a biped robot with parallel mechanism by considering contact force," in 27th Annual Conference of the IEEE Industrial Electronics Society, 2001, pp. 2184-2189.
16. J. Grizzle, G. Abba, and F. Plestan, "Asymptotically stable walking for biped robots: Analysis via systems with impulse effects," IEEE Transactions on Automatic Control, vol. 46, pp. 51-64, January 2001.
17. E. Westervelt, J. Grizzle, and D. Koditschek, "Hybrid zero dynamics of planar biped walkers," IEEE Transactions on Automatic Control, vol. 48, no. 1, pp. 42-56, January 2003.
18. E. Westervelt, G. Buche, and J. Grizzle, "Experimental validation of a framework for the design of controllers that induce stable walking in planar bipeds," The International Journal of Robotics Research, June 2004.
19. C. Chevallereau, G. Abba, Y Aoustin, E. Plestan, F. Westervelt, C. Canduas-de Wit, and J. Grizzle, "RABBIT: A testbed for advanced control theory," IEEE Control Systems Magazine, vol. 23, no. 5, pp. 57-79, October 2003.
20. E. Westervelt, J. Grizzle, and C. Canudas-de-Wit, "Switching and PI control of walking motions of planar biped walkers," IEEE Transactions on Automatic Control, vol. 48, no. 2, pp. 308-312, February 2003.
21. A. D. Kuo, "Energetics of actively powered locomotion using the simplest walking model," Journal of Biomechanical Engineering, vol. 124, pp. 113-120, 2002.
22. A. Goswami, "Postural stability of biped robots and the foot-rotation indicator (FRI) point," International Journal of Robotics Research, vol. 18, no. 6, pp. 523-533, June 1999.
23. F. Asano, M. Yamakita, N. Kamamich, and Z.-W. Luo, "A novel gait generation for biped walking robots based on mechanical energy constraint," in Proceedings of the IEEE/RSJ Conference On Intelligent Systems and Robots, Lausanne, Switzerland, October 2002, pp. 2637-2644.
24. Y. Hurmuzlu and D. Marghitu, "Rigid body collisions of planar kinematic chains with multiple contact points," International Journal of Robotics Research, vol. 13, no. 1, pp. 82-92, 1994.
25. C. Chevallereau, E. Westervelt, and J. Grizzle, "Asymptotically stable running for a five-link, four-actuator, planar bipedal robot," pre-print, May 2004, submited to IJRR; copy available at available at [28].
26. J. Guckenheimer and S. Johnson, "Planar hybird systems," in Hybrid Systems II, Lecture Notes in Computer Science. Springer-Verlag, 1995, pp. 203-225.
27. J. H. Choi and J. W. Grizzle, "Planar bipedal robot with impulsive foot action," in pre-print, 2004, submited to CDC; copy available at [28].
28. J. Grizzle, "J.W. Grizzle's publications on robotics," 2004, www.eecs.umich.edu/grizzle/papers/robotics.html.