Motion control of a novel planar biped with nearly linear dynamics

IEEE/ASME Transactions on Mechatronics

Volumn 11, Issue 2, 2006, Pages 162-168

  Agrawal, Sunil K ^a   Fattah, Abbas ^a  

^a UNIVERSITY OF DELAWARE   (United States)

Author keywords

Biped robot; Nearly linear dynamics; Nonlinear controller

Indexed keywords

DYNAMICS; EQUATIONS OF MOTION; MATHEMATICAL MODELS; MATRIX ALGEBRA; MOTION CONTROL; NONLINEAR CONTROL SYSTEMS; ROBOTICS;

BIPED ROBOT; DYNAMIC MODEL; INERTIA MATRIX; NEARLY LINEAR DYNAMICS; NONLINEAR CONTROLLER; PLANAR BIPED;

MOTION PLANNING;

EID: 33645805225     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2006.871091     Document Type: Article

References (19)

1. T. McGeer, "Passive dynamics walking," Int. J. Robot. Res., vol. 9, no. 2, pp. 62-82, 1990.
2. M. Garcia, A. Chatterjee, A. Ruina, and M. Coleman, "The simplest walking model: Stability, complexity, and scaling," ASME J. Biomech. Eng., vol. 120, no. 2, pp. 281-288, 1998.
3. A. Goswami, B. Thuilot, and B. Espiau, "Compass-like biped robot, Part I: Stability and bifurcation of passive gaits," INRIA Res. Rep., No. 2996, 1996.
4. E. Borzova and Y. Hurmuzlu, "Passively walking five-link robot," Automatica, vol. 40, pp. 621-629, 2004.
5. F. Pfeiffer, K. Loffler, and M. Gienger, "The concept of jogging JOHNNIE," in Proc. Int. Conf. Robot. Autom., 2002, pp. 3129-3135.
6. F. Plestan, J. W. Grizzle, E. R. Westervelt, and G. Abba, "Stable walking of a 7-DOF biped robot," IEEE Trans. Robot. Autom., vol. 19, no. 4, pp. 653-668, Aug. 2003.
7. R. Tedrake, T. W. Zhang, M. I. Fong, and H. M. Seung, "Actuating a simple 3D passive dynamic walker," in Proc. Int. Conf. Robot. Autom., 2004, pp. 4656-4661.
8. S. Collins, A. Ruina, R. Tedrake, and M. Wisse, "Efficient bipedal robots based on passive-dynamic walkers," Science, vol. 307, pp. 1082-1085, Feb. 2005.
9. F. Asano, M. Yamatika, N. Kamamichi, and Z.-W. Luo, "A novel gait generation for biped walking robots based on mechanical energy constraint," IEEE Trans. Robot. Autom., vol. 20, no. 3, pp. 565-573, Jun. 2004.
10. A. D. Kuo, "Energetics of actively powered locomotion using the simplest walking model," ASME J. Biomech. Eng., vol. 124, pp. 113-120, 2002.
11. M. W. Spong and G. Bhatia, "Further results on control of the compass gait biped," in Proc. Int. Conf. Intelligent Robots Syst., 2003, pp. 1933-1938.
12. A. Goswami, B. Espiau, and A. Keramane, "Limit cycles and their stability in a passive biped gait," in Proc. IEEE Conf. Robot. Autom., 1996, pp. 246-251.
13. Y. Hurmuzlu and T.-H. Chang, "Rigid body collisions of a special class of planar kinematic chains," IEEE Trans. Syst., Man, Cyber, vol. 22, no. 5, pp. 964-971, Sep.-Oct. 1992.
14. S. A. Agrawal, A. Fattah, and S. Oh, "Design and control approaches for a novel biped with nearly linear dynamics," in Proc. ASME Int. Mech. Eng. Cong. Exposition, Adv. Robot Dynamics Control Symp., Nov. 5-11, 2005, Orlando, FL, IMECE2005-81620.
15. H. K. Khalil, Nonlinear Systems. Englewood Cliffs, NJ: Prentice Hall, 2001.
16. H. Sira-Ramirez and S. K. Agrawal, Differentially Flat System. New York: Marcel Dekker, 2004.
17. W. Schiehlen, "Energy-optimal design of walking machines," Multibody Syst. Dynam., vol. 13, pp. 129-141, 2005.
18. G. Gabrielli and T. H. von Karman, "What price speed?," Mech. Eng., vol. 72, no. 10, pp. 775-781, 1950.
19. P. Gregorio, M. Ahmadi, and M. Beuhler, "Design, control and energetics of an electrically actuated legged robot," IEEE Trans. Syst., Man, Cyber, vol. 27, no. 4, pp. 626-634, 1997.