A hop towards running humanoid biped

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 1, 2004, Pages 629-635

  Kajita, Shuuji ^a   Nagasaki, Takashi ^b   Kaneko, Kenji ^a   Yokoi, Kazuhito ^a   Tanie, Kazuo ^a,b  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

^b UNIVERSITY OF TSUKUBA   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; COMPUTER GRAPHICS; COMPUTER HARDWARE; DEGREES OF FREEDOM (MECHANICS); KINETIC ENERGY; MATRIX ALGEBRA; RIGIDITY; VECTORS;

ANGULAR MOMENTUM; HOPPING PATTERN; HUMANOID ROBOT; LINEAR MOMENTUM;

ROBOTICS;

EID: 3042524045     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/robot.2004.1307219     Document Type: Conference Paper

References (19)

1. Gienger, M., et.al, "Toward the Design of a Biped Jogging Robot," Proc. of the 2001 ICRA, pp.4140-4145, 2001.
2. Hirai, K., Hirose, M., Haikawa, Y. and Takenaka, T., "The Development of Honda Humanoid Robot," Proc. of the 1998 ICRA, pp.1321-1326, 1998.
3. Inoue, H., Tachi, S., Nakamura, Y., Hirai, K., et.al, "Overview of Humanoid Robotics Project of METI," Proc. Int. Symp. Robotics, pp.1478-1482, 2001.
4. Nishiwaki, K., Sugihara, T., Kagami, S., Kanehiro, F., Inaba, M., and Inoue, H., "Design and Development of Research Platform for Perception-Action Integration in Humanoid Robot: H6," Proc. Int. Conference on Intelligent Robots and Systems, pp.1559-1564, 2000.
5. Yamaguchi, J., Soga, E., Inoue, S. and Takanishi, A., "Development of a Bipedal Humanoid Robot - Control Method of Whole Body Cooperative Dynamic Biped Walking -," Proc. of the 1999 ICRA, pp.368-374, 1999.
6. Raibert, M., Legged Robots that Balance, Cambridge, MA, MIT Press, 1986.
7. Playter, Robert R. and Raibert, Marc H., "Control of a Biped Somersault in 3D," Proc. of IFToMM-jc International Symposium on Theory of Machines and Mechanisms (in Nagoya, Japan), pp.669-674, 1992.
8. Hodgins, J. K.,"Three-Dimensional Human Running," Proc. of the 1996 ICRA, pp.3271-3277, 1996.
9. Ahmadi, M. and Buehler, M., "The ARL Monopod II Running Robot: Control and Energetics," Proc. of the 1999 ICRA, pp.1689-1694, 1999.
10. Hale, E., Schara, N., Burdick, J. and Fiorini, P., "A Minimally Actuated Hopping Rover for Exploration of Celestial Bodies," Proc. of the 2000 ICRA, pp.420-427, 2000.
11. Shimoda, S., Wingart, A. and Takahashi, K., "Microgravity Hopping Robot with Controlled Hopping and Landing Capability," Proc. of the 2003 ICRA, pp.2571-2576, 2003.
12. Harbick, K. and Sukhatme, G. S., "Controlling Hopping Height of a Pneumatic Monopod," Proc. of the 2002 ICRA, pp.3998-4003, 2002.
13. Mombaur, K. D., Longman, R. W., Bock, H. O. and Schlöder, J. P., "Stable One-Legged Hopping Without Feedback and With a Point Foot," Proc. of the 2002 ICRA, pp.3978-3983, 2002.
14. Kajita, S. et al.,"Running Pattern Generation for a Humanoid Robot," Proc. of the 2002 ICRA, pp.2755-2761, 2002.
15. Kaneko, K. et al.,"Design of Advanced Leg Module for Humanoid Robotics Project of METI," Proc. of the 2002 ICRA, pp.38-45, 2002.
16. Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K. and Hirukawa, H., "Resolved Momentum Control: Humanoid Motion Planning based on the Linear and Angular Momentum," Proc. of the 2003 IROS, pp.1644-1650, 2003.
17. Arikawa, K. and Mita, T, "Design of Multi-DOF Jumping Robot," Proc. of the 2002 ICRA, pp.3992-3997, 2002.
18. http://www.sony.net/SonyInfo/News/Press/200312/03-060E
19. http://pc.watch.impress.co.jp/docs/2003/1218/sony.htm (in Japanese)