A novel gait generation for biped walking robots based on mechanical energy constraint

IEEE Transactions on Robotics and Automation

Volumn 20, Issue 3, 2004, Pages 565-573

  Asano, Fumihiko ^a   Yamakita, Masaki ^b   Kamamichi, Norihiro ^b   Luo, Zhi Wei ^a  

^a INST OF PHYS AND CHEMICAL RESEARCH   (Japan)

^b Tokyo Institute of Technology ^*  (Japan)

Author keywords

Biped robots; Gait generation; Legged locomotion; Mechanical energy; Passive dynamic walking

Indexed keywords

COMPUTER SIMULATION; GAIT ANALYSIS; MOTION PLANNING; NUMERICAL METHODS;

GAIT GENERATION; WALKING ROBOT;

MOBILE ROBOTS;

EID: 2942735491     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRA.2004.824685     Document Type: Article

References (18)

1. F. Asano, M. Hashimoto, N. Kamamichi, and M. Yamakita, "Extended virtual passive dynamic walking and virtual passivity-mimicking control laws," in Proc. IEEE Int. Conf. Robotics and Automation, vol. 3, 2001, pp. 3084-3089.
2. F. Asano and M. Yamakita, "Virtual gravity and coupling control for robotic gait synthesis," IEEE Trans. Syst., Man, Cybern. A, vol. 31, pp. 737-745, June 2001.
3. A. Goswami, B. Espiau, and A. Keramane, "Limit cycles and their stability in a passive bipedal gait," in Proc. IEEE Int. Conf. Robotics and Automation, 1996, pp. 246-251.
4. ____, B. Espiau, and A. Keramane, "Limit cycles in a passive compass gait biped and passivity-mimicking cotnrol laws," Auton. Robots, vol. 4, no. 3, pp. 273-286, 1997.
5. A. Goswami, B. Thuilot, and B. Espiau. (1996) Compass-Like Biped Robot Part I: Stability and Bifurcation of Passive Gaits, Res. Rep. INRIA 2613. [Online]. Available: http://www.inria.fr/rrrt/rr-2996.html
6. J. W. Grizzle, G. Abba, and F. Plestan, "Asymptotically stable walking for biped robots: Analysis via systems with impulse effects," IEEE Trans. Automat. Contr., vol. 46, pp. 51-64, Jan. 2001.
7. Y. Hurmuzlu and G. D. Moskowitz, "Role of impact in the stability of bipedal locomotion," Int. J. Dynam., Stability Syst., vol. 1, no. 3, pp. 217-234, 1986.
8. Y. Hurmuzlu and T. H. Chang, "Rigid body collisions of a special class of planar kinematic chains," IEEE Trans. Syst., Man, Cybern., vol. 22, pp. 964-971, May 1992.
9. T. McGeer, "Passive dynamic walking," Int. J. Robot. Res., vol. 9, no. 2, pp. 62-82, 1990.
10. S. Kajita, T. Yamaura, and A. Kobayashi, "Dynamic walking control of a biped robot along a potential conserving orbit," IEEE Trans. Robot. Automat., vol. 8, pp. 431-438, Aug. 1992.
11. S. Kajita, O. Matsumoto, and M. Saigo, "Real-time 3-D walking pattern generation for a biped robot with telescopic legs," in Proc. IEEE Int. Conf. Robotics and Automation, 2001, pp. 2299-2306.
12. M. Koga, Numerical Computation With MATX (in Japanese). Tokyo, Japan: Tokyo Denki Univ. Press, 2000.
13. J. H. Park, "Impedance control for biped robot locomotion," IEEE Trans. Robot. Automat., vol. 17, pp. 870-882, Dec. 2001.
14. J. H. Park and K. D. Kim, "Biped robot walking using gravity-compensated inverted pendulum mode and computed torque control," in Proc. IEEE Int. Conf. Robotics and Automation, 1998, pp. 3528-3533.
15. M. W. Spong, "Passivity-based control of the compass gait biped," in Proc. World Congr. IFAC, 1999, pp. 19-23.
16. M. Vukokbratović and Y. Stepanenko, "On the stability of anthropomorphic systems," Math. Biosci., vol. 15, pp. 1-37, 1972.
17. M. Yamakita, N. Kamamichi, and F. Asano, "Virtual coupling control for dynamic bipedal walking," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2001, pp. 233-238.
18. M. Yamakita and F. Asano, "Extended passive velocity field control with variable velocity fields for a kneed biped," Adv. Robot., vol. 15, no. 2, pp. 139-168, 2001.