Learning control of compensative trunk motion for biped walking robot based on zmp stability criterion

IEEE International Conference on Intelligent Robots and Systems

Volumn 1, Issue , 1992, Pages 597-603

  Li, Qinghua ^a   Takanishi, A ^a   Kato, I ^a  

^a WASEDA UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

LEARNING ALGORITHMS; MOBILE ROBOTS; STABILITY CRITERIA;

BIPED ROBOT; BIPED WALKING ROBOTS; CONVERGENCE RATES; LEARNING CONTROL; STABILITY OF WALKING; TRUNK MOTIONS; WEIGHT COEFFICIENTS; ZMP (ZERO MOMENT POINT);

INTELLIGENT ROBOTS;

EID: 3042530891     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.1992.587398     Document Type: Conference Paper

References (8)

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2. A. Takanishi, T. Takeya, H. Karaki, and I. Kato, "A control method for dynamic biped walking under unknown external force, " in Proc. IEEE Int. Workshop Intelligent Robots and System PO(Tsuchiura, Ibaraki, Japan, July 3-6, 1990), pp. 795-801.
3. A. Takanishi, H. O. Lim, M. Tsuda, and I. Kato, "Realization of dynamic biped walking stabilized by trunk motion on a sagittally uneven surface, " in Proc. IEEE Int. Workshop Intelligent Robots and System '90(Tsuchiura, Ibaraki, Japan, July 3-6, 1990), pp. 323-330.
4. M. Vukobratovic, A. Frank, and D. Juricic, "On the stability of biped locomotion, " IEEE Trans. Biomedical Engineering, Vol. BME-17, No. 1, 1970.
5. A. Takanishi, M. Tochizawa, T. Takeya, H. Karaki. and I. Kato, "Realization of dynamic biped walking stabilized with trunk motion under known external force, " in Advanced Robotics 1989: Proc.The Forth Int. Conf Advanced Robotics. (Columbus, Ohio, June 13-15, 1989), K. J. Waldron, Ed. Springer-Verlag, pp. 299-310.
6. Q. Li, A. Takanishi, and I. Kato, "A biped walking robot having a ZMP measurement system using universal force-moment sensors. " in Proc. 1991 IEEEIRSJ Int. Workrhop Intelligent Robots and System (Osaka, Japan, Nov. 3-5, 1991), pp. 1568-1573.
7. S. Kawamura, T. Kawamura, D. Fujino, F. Miyazaki, and S. Arimoro, "Realization of biped locomotion by motion pattern learning, " (In Japanese) J. Robotics Society of Japan, vo1. 3, No. 3, pp. 5-15, 1985.
8. H. Kanoh, N. Ehara, H. Kobayashi, and 0. Ono, Analysis and control of dynamical system. (In Japanese) Corona Publishing Co. , Ltd. , Tokyo, [5] 1991, pp. 4-5.