Rate of change of angular momentum and balance maintenance of biped robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 4, 2004, Pages 3785-3790

  Goswami, Ambarish ^a   Kallem, Vinutha ^b  

^a HONDA RESEARCH INSTITUTE   (United States)

^b Stanford University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

BIOMECHANICS; BIPED LOCOMOTION; MATHEMATICAL MODELS; MECHANICAL ENGINEERING; ROBOTICS; ROTATION;

ANGULAR MOMENTUM; BIPED ROBOTS; GROUND REACTION FORCE (GRF); ROTATIONAL STABILITY;

MOBILE ROBOTS;

EID: 3042695815     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/robot.2004.1308858     Document Type: Conference Paper

References (29)

1. D. Katić and M. Vukobratović, "Survey of intelligent control techniques for humanoid robots," Journal of Intelligent and Robotic Systems, vol. 37, pp. 117-141, 2003.
2. A. Goswami, "Postural stability of biped robots and the foot rotation indicator (FRI) point," International Journal of Robotics Research, vol. 18, no. 6, pp. 523-533, 1999.
3. M. Vukobratović, A. A. Frank, and D. Juricic, "On the stability of biped locomotion," IEEE Transactions on Biomedical Engineering, vol. BME-17, no. 1, pp. 25-36, January 1970.
4. M. Vukobratović, B. Borovac, D. Surla, and D. Stokic, Scinetific Fundamentals of Robotics 7. Biped Locomotion: Dynamics Stability, Control and Application. Springer-Verlag, New York, 1990.
5. F. M. Silva and J. A. T. Machado, "Goal-oriented biped walking based on force interaction control," in IEEE International Conference on Robotics and Automation, May 21-26 2001, pp. 4122-4127.
6. S. Ito, Y. Saka, and H. Kawasaki, "A consideration on position of center of ground reaction force in upright posture," in SICE Annual Conference, August 2002.
7. D. T. Greenwood, Principles of Dynamics. New Jersey: Prentice-Hall, Inc., 1965.
8. J. Perry, Gait Analysis: Normal and Pathological Function. Thorfare, NJ: SLACK Incorporated, 1992.
9. V. Zatsiorsky, Kinetics of Human Motion. Champaign, IL: Human Kinetics, 2002.
10. M. Vukobratović, "How to control artificial anthropomorphic systems," IEEE Transactions on Systems, Man, and Cybernetics, vol. SMC-3, no. 5, pp. 497-507, 1973.
11. Q. Li, A. Takanishi, and I. Kato, "Learning control of compensative trunk motion for biped walking robot based on zmp stability criterion," in International Conference on Intelligent Robots and Systems, vol. 1, July 7-10 1992, pp. 597-603.
12. C.-L. Shih, "The dynamics and control of a biped walking robot with seven degrees of freedom," ASME Journal of Dynamic Systems, Measurement, and Control, vol. 118, pp. 683-690, December 1996.
13. K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, "The development of honda humanoid robot," in IEEE International Conference on Robotics and Automation, 1998, Belgium, pp. 1321-1326.
14. Q. Huang, K. Yokoi, S. Kajita, K. Kaneko, H. Aria, N. Koyachi, and K. Tanie., "Planning walking patterns for a biped robot," IEEE Transactions on Robotics and Automation, vol. 17, no. 3, pp. 280-289, 2001.
15. T. Sugihara, Y. Nakamura, and H. Inoue, "Realtime humanoid motion generation through zmp manipulation based on inverted pendulum control," in IEEE International Conference on Robotics and Automation, Washington, D.C., 2002.
16. R. Kurazume, T. Hasegawa, and K. Yoneda, "The sway compensation trajectory of a biped robot," in IEEE International Conference on Robotics and Automation, 2003, Taipei, Taiwan, pp. 925-931.
17. T. Sugihara and Y. Nakamura, "Whole-body cooperative cog control through zmp manipulation for humanoid robots," in Proc. 2nd Int. Symp. on Adaptive Motion of Animals and Machines, Kyoto, Japan, 2003.
18. A. Takanishi, H.-o. Lim, M. Tsuda, and I. Kato, "Realization of dynamic biped walking stabilized by trunk motion on a sagitally uneven surface," International Conference on Intelligent Robots and Systems, pp. 323-330, 1990.
19. M. Yamada, J. Furusho, and A. Sano, "Dynamic control of walking robot with kick-action," in Proc. of Int. Conf. on Advanced Robotics, ICAR '85, 1985, pp. 405-412.
20. A. Sano and J. Furusho, "Control of the torque distribution for the BLR-G2 biped robot," in Proc. of Int. Conf. on Advanced Robotics, ICAR '91, Pisa, 1991, pp. 728-734.
21. th Int. Workshop on Algorithmic Foundamtions on Robotics, WAFR '00, 2000, pp. SA-79-SA-89.
22. N. E. Sian, K. Yokoi, S. Kajita, F. Kanehiro, and K. Tanie, "Whole-body teleoperation of a humanoid robot - a method of integrating operator's intention and robot's autonomy," in IEEE International Conference on Robotics and Automation, Taipei, Taiwan, Sept. 14-19 2003, pp. 1613-1619.
23. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa, "Resolved momentum control: Humanoid motion planning based on the linear and angular momentum," in International Conference on Intelligent Robots and Systems, 2003, Las Vegas, NV, USA, pp. 1644-1650.
24. K. Harada, S. Kajita, K. Kaneko, and H. Hirukawa, "Pushing manipu lation by humanoids considering two-kindsof zmps," in IEEE Interna tional Conference on Robotics and Automation, September 14-19 2003, Taipei, Taiwan, pp. 1627-1632.
25. S. Kagami, K. Nishiwaki, T. Kitagawa, T. Sugihara, M. Inaba, and H. Inoue, "A fast generation method of a dynamically stable humanoid robot trajkectory with enhancedzmp constraint," in Proc. 1st IEEE-RAS Int. Conf. on Humanoid Robots, Humanoids2000, September 7-8 2000.
26. K. M. Lynch and M. T. Mason, "Dynamic nonprehensile manipulation: Controllability, planning, and experiments," International Journal of Robotics Research, vol. 18, no. 1, pp. 64-92, 1999.
27. D. Orin, "Interactive control of a six-legged vehicle with optimization of both stability and energy," Ph.D. dissertation, The Ohio State University, 1976.
28. B. S. Lin and S. M. Song, "Dynamic modeling, stability and energy efficiency of a quadrupedal walking machine," in IEEE International Conference on Robotics and Automation, 1993, Atlanta, GA, pp. 367-373.
29. F. Hardarson, "Stability analysis and synthesis of statically balanced walking for quadruped robots," Ph.D. dissertation, Royal Institute of Stokholm, KTH, 2002.