Flip gait synthesis of a biped based on Poincare map

Proceedings of the 2nd International Workshop on Robot Motion and Control, RoMoCo 2001

Volumn , Issue , 2001, Pages 239-243

  Geng, Tao ^a   Xu, Xiaoming ^a  

^a SHANGHAI JIAO TONG UNIVERSITY   (China)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; NONLINEAR FEEDBACK;

ACTIVE CONTROL; BIPEDAL LOCOMOTION; FIXED POINTS; FLIGHT PHASE; GAIN TUNING; GAIT SYNTHESIS; ONE-LEGGED; POINCARE MAP;

FEEDBACK LINEARIZATION;

EID: 3042530785     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROMOCO.2001.973461     Document Type: Conference Paper

References (18)

1. M.H. Raibert, Legged Robots That Balance, MA: MIT Press, 1986.
2. M.Y. Cheng, Measurement of robustness for biped locomotion using linearized Poincare map, IEEE SMC 1995, p 1321-1326.
3. Y. Hurmuzlu, Dynamics of bipedal gait: part I-objective functions and the contact event of a planar five-link biped, Journal of Applied Mechanics, Transactions ASME v 60 n 2, Jun 1993, p 331-336.
4. Qiang Huang, A High Stability. Smooth Walking Pattern for a Biped Robot, Proceedings of IEEE International Conference on Robotics and Automation, 1999.
5. Tao Geng, Designing ballistic flip gait for a novel one-legged robot, Proceedings of IEEE International Conference on Intelligent Robots and Systems, 2001.
6. Zvi Shiller, Hai Chang, Trajectory preshaping for highspeed articulated systems, Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, 117, 3, Sep 1995, ASME, p 304-310.
7. Gregorio Pedro, Ahmadi Mojtabaand, Buehler Martin, Design, control and energetics of an electrically actuated legged robot, IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, v 27, n 4, Aug 1997.
8. Saranli Uluc and Schwind William J., Toward the control of a multi-jointed, monoped runner, IEEE International Conference on Robotics and Automation, v 3, 1998
9. Okubo Hiroki, Nakano Eiji, Handa Minoru, Design of jumping machine using self-energizing spring, IEEE International Conference on Intelligent Robots and Systems, v 1, Nov 4-8, 1996.
10. Matthew D. Berkemeier and Kamal V Desai. Design of a robot leg with elastic energy storage, comparison to biology, and preliminary experimental results, IEEE International Conference on Robotics & Automation, 1996.
11. V.V. Lapshin, Motion control of a legged machine in supportless phase of hopping, International Journal of Robotics Research, v 10, n 4, Aug 1991, p 327-337.
12. Francois Charles & Samson Claude, New approach to the control of the planar one-legged hopper, International Journal of Robotics Research, v 17, n 11, Nov 1998, Sage Sci Press, p 1150-1166.
13. M.D. Berkemeier & R.S. Fearing, Sliding and hopping gaits for the underactuated acrobot, IEEE Transactions on Robotics and Automation, v 14, n 4, Aug 1998.
14. M.Y. Chitayev Adaptive high-speed resonant robot, Mechatronics, v 6, n 8, Dec 1996, Elsevier Science Ltd, p 897-913.
15. Jahangir S. Rastegar, Lidong Liu, Dan Yin, Task specific optimal simultaneous kinematic, dynamic, and control design of high-performance robotic systems, IEEE/ASME Transactions on Mechatronics, Dec 1999, p 387-395
16. K.Y. Toumi and A.T.Y. Kuo, High-speed trajectory control of a direct-drive manipulator, IEEE Transactions on Robotics and Automation, v 9, n 1, Feb 1993, p 102-108.
17. Z. Li, Strategies for biped gymnastics, Proceedings of IEEE International Symposium on Intelligent Control, 1989, p 433-437.
18. Ambarish Goswami, A study of the Passive Gait of a Compass-like Biped Robot: Symmetry and Chaos, Int. J. Robot. Res. 17(12), 1998.