Angular momentum regulation during human walking: Biomechanics and control

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 3, 2004, Pages 2405-2411

  Popovic, Marko ^a   Hofmann, Andreas ^a   Herr, Hugh ^a  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Angular momentum; Biomechanics; Biped; Control; Human; Locomotion

Indexed keywords

BIOMECHANICS; BIOMIMETIC MATERIALS; FUNCTIONS; GAIT ANALYSIS; KINEMATICS; NEUROLOGY; OPTIMIZATION;

ANGULAR MOMENTUM; BIPED; HUMAN; LOCOMOTION;

MOBILE ROBOTS;

EID: 3042583640     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/robot.2004.1307421     Document Type: Conference Paper

References (15)

1. M. Popovic, W. Gu, H. Herr, "Conservation of Angular Momentum in Human Movement," MIT AI Laboratory-Research Abstracts, September 2002, pp. 231-232.
2. H. Herr, G. P. Whiteley, D. Childress, "Cyborg Technology-Biomimetic Orthotic and Prosthetic Technology," Biologically Inspired Intelligent Robots, Bar-Cohen, Y. and C. Breazeal, Eds., SPIE Press, Bellingham, Washington, 2003, pp. 103-143.
3. W. Gu, "The Regulation of Angular Momentum During Human Walking", Undergraduate Thesis, Physics Department, MIT, June 2003.
4. M. Popovic and H. Herr, "Angular momentum regulation during human walking," unpublished.
5. M. Vukobratovic, and D. Juricic, "Contribution to the Synthesis of Biped Gait", IEEE Trans. Bio-Medical Engineering, Vol. BME-16, No. 1, 1969, pp. 1-6.
6. S. Kajita, O. Matsumoto, and M. Saigo, "Real-time 3D walking pattern generation for a biped robot with telescopic legs," Proc. of the 2001 IEEE International Conference on Robotics and Automation, 2001, pp. 2299-2306.
7. K. Yokoi, F. Kanehiro, K. Kaneko, K. Fujiwara, S. kajita, and H. Hirukawa, "A Honda humanoid robot controlled by aist software," Proc. of the 2001 IEEE-RAS International Conference on Humanoid Robots, 2001, pp. 259-264.
8. T. Sugihara, Y. Nakamura, and H. Inoue, "Realtime Humanoid Motion Generation through ZMP Manipulation based on Inverted Pendulum Control," Proc. of the 2002 IEEE International Conference on Robotics and Automation, 2002, pp. 1404-1409.
9. K. Nishiwaki, S. Kogami, Y. Kuniyoshi, M. Inaba, and H. Inoue, "Online Generation of Humanoid Walking Motion based on a Fast Generation Method of Motion Pattern that follows Desired ZMP", Proc. of the 2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, 2002, pp. 2684-2688.
10. S. Kajita, T. Nagasaki, K. Yokoi, K. Kaneko, and K. Tanie, "Running Pattern Generation for a Humanoid Robot", Proc. of the 2002 IEEE International Conference on Robotics and Automation, 2002, pp. 2755-2761.
11. S. Kudoh and T. Komura, "C2 Continuous Gait-Pattern Generation for Biped Robots," Proc. of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, 2002, pp. 1135-1140.
12. F. C. Anderson, and M.G. Pandy, "Dynamic optimization of human walking", Journal of Biomechanical Engineering, vol. 123, October 2001.
13. A. Goswami, "Postural stability of biped robots and the foot rotation indicator (FRI) point", International Journal of Robotics Research, July 1999.
14. Z. Popovic, A. Witkin, "Physically Based Motion Transformation", Siggraph 1999
15. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, H. Hirukawa, "Resolved Momentum Control: Humanoid Motion Planning based on the Linear and Angular Momentum", IROS 2003