SENSOR AND CONTROL ASPECTS OF BIPED ROBOT "JOHNNIE"

International Journal of Humanoid Robotics

Volumn 1, Issue 3, 2004, Pages 481-496

  PFEIFFER, FRIEDRICH ^a   LÖFFLER, KLAUS ^a   GIENGER, MICHAEL ^a   ULBRICH, HEINZ ^a  

^a TECHNICAL UNIVERSITY OF MUNICH   (Germany)

Author keywords

Biped robot; sensors; walking control

Indexed keywords

WALKING AIDS;

3D ORIENTATION; 6-AXIS FORCE/TORQUE SENSORS; BIPED ROBOT; CONTROL ASPECTS; DYNAMICALLY STABLE GAIT; GAIT PATTERN; ORIENTATION SENSORS; SENSOR; WALKING CONTROL; WALKING VELOCITY;

ROBOTS;

EID: 33749368768     PISSN: 02198436     EISSN: None     Source Type: Journal    
DOI: 10.1142/S0219843604000228     Document Type: Article

References (24)

1. A. Baerveldt and R. Klang, A low-cost and low-weight attitude estimation system for an autonomous helicopter, in Proc. 1997 IEEE Int. Conf. Intelligent Engineering Systems, 1997, pp. 391-395.
2. C. Glocker, Dynamik von Starrkörpersystemen mit Reibung und Stößen, Fortschrittberichte VDI, Reihe 18, Nr. 182 (VDI-Verlag, Düsseldorf, 1995).
3. www.honda.com/asimo.
4. K. Hirai, M. Hirose and T. Takenaka, The development of Honda humanoid robot, in Proc. 1998 IEEE Int. Conf. Robotics and Automation, Leuven, Belgium, 1998, pp. 1321-1326.
5. M. Gienger, K. Löffler and F. Pfeiffer, Towards the design of a biped jogging robot, in Proc. IEEE 2001 Int. Conf. Robotics and Automation, Seoul, Korea, 2001, pp. 4140-4145.
6. S. Kagami, K. Nishiwaki, T. Kitagawa, T. Sugihara, M. Inaba and H. Inoue, A fast generation method of a dynamically stable humanoid robot trajectory with enhanced ZMP constraint, in Proc. IEEE Int. Conf. Humanoid Robotics (Humanoids 2000), 2000.
7. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Yokoi and H. Hirukawa, A realtime pattern generator for biped walking, in Proc. IEEE 2002 Int. Conf. Robotics and Automation, Washington, USA, 2002, pp. 31-37.
8. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi and H. Hirukawa, Biped walking pattern generation by using preview control of zero-moment point, in Proc. IEEE 2003 Int. Conf. Robotics and Automation, Taipei, Taiwan, 2003, pp. 1620-1626.
9. K. Löffler, M. Gienger and F. Pfeiffer, Control of a biped jogging robot, in Proc. 6th Int. Workshop on Advanced Motion Control, Nagoya, Japan, 2000, pp. 601-605.
10. P. S. Maybeck, Stochastic Models, Estimation and Control (Academic Press, New York, San Francisco, London, 1979).
11. K. Nishiwaki, S. Kagami, J. Kuffner, M. Inaba and H. Inoue, Walking control system of a humanoid for tracking a moving object with estimate of the target motion, in Proc. IEEE 2003 Int. Conf. Humanoid Robots, Taipei, Taiwan, 2003.
12. F. Pfeiffer, J. Eltze and H.-J. Weidemann, The TUM-walking machine, intelligent automation and soft computing, 1995, pp. 307-323.
13. A. Baerveldt and R. Klang, A low-cost and low-weight attitude estimation system for an autonomous helicopter, in Proc. 1997 IEEE Int. Conf. Intelligent Engineering Systems, 1997, pp. 391-395.
14. C. Glocker, Dynamik von Starrkörpersystemen mit Reibung und Stößen, Fortschrittberichte VDI, Reihe 18, Nr. 182 (VDI-Verlag, Düsseldorf, 1995).
15. www.honda.com/asimo.
16. K. Hirai, M. Hirose and T. Takenaka, The development of Honda humanoid robot, in Proc. 1998 IEEE Int. Conf. Robotics and Automation, Leuven, Belgium, 1998, pp. 1321-1326.
17. M. Gienger, K. Löffler and F. Pfeiffer, Towards the design of a biped jogging robot, in Proc. IEEE 2001 Int. Conf. Robotics and Automation, Seoul, Korea, 2001, pp. 4140-4145.
18. S. Kagami, K. Nishiwaki, T. Kitagawa, T. Sugihara, M. Inaba and H. Inoue, A fast generation method of a dynamically stable humanoid robot trajectory with enhanced ZMP constraint, in Proc. IEEE Int. Conf. Humanoid Robotics (Humanoids 2000), 2000.
19. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Yokoi and H. Hirukawa, A realtime pattern generator for biped walking, in Proc. IEEE 2002 Int. Conf. Robotics and Automation, Washington, USA, 2002, pp. 31-37.
20. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi and H. Hirukawa, Biped walking pattern generation by using preview control of zero-moment point, in Proc. IEEE 2003 Int. Conf. Robotics and Automation, Taipei, Taiwan, 2003, pp. 1620-1626.
21. K. Löffler, M. Gienger and F. Pfeiffer, Control of a biped jogging robot, in Proc. 6th Int. Workshop on Advanced Motion Control, Nagoya, Japan, 2000, pp. 601-605.
22. P. S. Maybeck, Stochastic Models, Estimation and Control (Academic Press, New York, San Francisco, London, 1979).
23. K. Nishiwaki, S. Kagami, J. Kuffner, M. Inaba and H. Inoue, Walking control system of a humanoid for tracking a moving object with estimate of the target motion, in Proc. IEEE 2003 Int. Conf. Humanoid Robots, Taipei, Taiwan, 2003.
24. F. Pfeiffer, J. Eltze and H.-J. Weidemann, The TUM-walking machine, intelligent automation and soft computing, 1995, pp. 307-323.