Methodology for zero-moment point experimental modeling in the frequency domain

JVC/Journal of Vibration and Control

Volumn 12, Issue 12, 2006, Pages 1385-1406

  Caballero, Rony ^a   Armada, Manuel A ^b   Alarcón, Pedro ^b  

^a UNIVERSIDAD TECNOLÓGICA DE PANAMÁ   (Panama)

^b Consejo Superior de Investigaciones Científicas   (Spain)

Author keywords

Biped robot; Frequency domain modeling; Legged locomotion; Stability; Zero moment point

Indexed keywords

BIPED LOCOMOTION; COMPUTER SIMULATION; FREQUENCY DOMAIN ANALYSIS; OSCILLATIONS; SYSTEM STABILITY;

BIPED ROBOTS; FREQUENCY DOMAIN MODELING; LEGGED LOCOMOTION; ZERO MOMENT POINT;

ROBOTS;

EID: 33751557146     PISSN: 10775463     EISSN: 17412986     Source Type: Journal    
DOI: 10.1177/1077546306070601     Document Type: Article

References (29)

1. Armada, M. and González de Santos, P., 1997, "Climbing, walking and intervention robots," Industrial Robot 24 (2). 158-163.
2. Armada, M., González de Santos, P., Jiménez, M. A., and Prieto, M., 2003, "Application of CLAWAR machines," International Journal of Robotics Research 22 (3-4). 251-264.
3. Caballero, R., Akinfiev, T., and Armada, M., 2002, "Robust cascade controller for ROBICAM biped robot: Preliminary experiments," in Proceedings of the 5th International Conference of Climbing and Walking Robots, Paris, France, pp. 147-154.
4. Caballero, R., Akinfiev, T., and Armada, M., 2004, "Robust cascade controller for nonlinearly actuated biped robots: Experimental evaluation," International Journal of Robotics Research 23, 1011-1075.
5. Fujimoto, Y., Obata, S., and Kawamura, A., 1998, "Robust biped walking with active interaction control between foot and ground," in Proceedings of the 1998 IEEE International Conference on Robotics & Automation, Leuven, Belgium, Vol. 3, pp. 2030-2035.
6. Furushu, J. and Masubushi, M., 1986, " Control of a dynamical biped locomotion system for steady walking," Journal of Dynamic Systems, Measurement, and Control 108, 111-118.
7. Gienger, M., Loffler, K., and Pfeiffer, F., 1999, "Design and control of a biped walking and jogging robot," in Proceedings of the 4th International Conference on Climbing and Walking Robots, Portsmouth, UK, September, pp. 48-58.
8. González de Santos, P., Armada, M., and Jiménez, M. A., 2000, "Ship building with ROWER," IEEE Robotics and Automation Magazine 7 (4). 35-43.
9. González de Santos, P., Garcia, E., Estremera, J., and Armada, M., 2005, "Dylema: Using walking robots for landmine detection and location," International Journal of System Science 36 (9). 545-558.
10. Goswami, A., 1999, "Postural stability of biped robots and the foot-rotation indicator (FRI) point," International Journal of Robotic Research 18 (6). 523-533.
11. Hemami, H., 1976, "Reduced order models for biped locomotion," in Proceedings of the 7th Pittsburgh Conference on Modeling and Simulation, pp. 270-276.
12. Hemami, H., Weimer, F., and Koozekanani, S., 1973, "Some aspects of the inverted pendulum problem for modeling of locomotion systems," IEEE Transactions on Automatic Control 18 (16). 658-661.
13. Hirai, K., 1999, "The Honda humanoid robot: Development and future perspective," Industrial Robot 26 (4). 260-266.
14. Hirai, K., Hirose, M., Haikawa, Y., and Takenaka, T., 1998, "The development of Honda humanoid robot," in Proceedings of IEEE International Conference on Robotics & Automation, Leuven, Belgium, pp. 1321-1326.
15. Medrano-Cerda, G. and Eldukhri, E., 1997, " Biped robot locomotion in sagittal plane," Transactions of the Institute of Measurement and Control 19 (1). 38-49.
16. Mita, T., Yamagushi, T., Kashiwase, T., and Kawase, T., 1984, "Realization of a high speed biped using modern control theory," International Journal of Control 40 (1). 107-119.
17. Pfeiffer, F., Löffler, K., and Gienger, M., 2000, "Design aspects of walking machines," in Proceedings of the 3rd International Conference on Climbing and Walking Robots, Madrid, pp. 17-38.
18. Popovic, M. B., Hofmann, A. G., and Herr, H. M., 2004a, "Zero spin angular momentum control: Definition and applicability," in Proceedings of the IEEE-RAS/RSJ International Conference on Humanoid Robots, Los Angeles, CA.
19. Popovic, M. B., Hofmann, A. G., and Herr, H. M., 2004b, "Angular momentum regulation during human walking: Biomechanics and control," in Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, pp. 2405-2411.
20. Skogestad, S. and Postlethwaite, I., 1996, Multivariable Feedback Control, John Wiley & Sons, Chichester, UK.
21. Sugihara, T., Nakamura, Y., and Inoue, H., 2002, "Realtime humanoid motion generation through ZMP manipulation based on inverted pendulum control," in Proceedings of the IEEE International Conference on Robotics & Automation, Washington, DC, 11th-15th May, Vol. 2, pp. 1404-1409.
22. Takanishi, A., Tochizawa, M., Taraki, H., and Kato, I., 1989, "Realization of dynamic biped walking stabilized with trunk motion under known external force," in Proceedings of the International Conference on Advanced Robotics, Columbus, OH, June.
23. Virk, G. S., Muscato, G., Semerano, A., Armada, M., and Warren, H. A., 2004., "TheCLAWARprojectonmobile robotics," Industrial Robot 31 (2). 130-138.
24. Vukobratovic, M. and Borovac, B., 2004, "Zero-moment point-thirty five years of its Life," International Journal of Humanoid Robotics 1 (1). 157-173.
25. Vukobratovic, M. and Juricic, D., 1968, "Contribution to the synthesis of biped gait," in Proceedings of the IFAC Symposium on Technical and Biological Problem on Control, Erevan, USSR.
26. Vukobratovic, M. and Stokic, D., 1975, "Dynamic control of unstable locomotion robots," Mathematical Biosciences 24, 129-157.
27. Vukobratovic, M., Borovac, B., Surla, D., and Stokic, D., 1990, Biped Locomotion, Springer-Verlag.
28. Winter, D. A., 1990, Biomechanics and Motor Control of Human Movement, John Wiley & Sons, Chichester, UK.
29. Yamaguchi, J., Takanishi, A., and Kato, I., 1993, "Development of a biped walking robot compensating for three-axis moment by trunk motion," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan, July, pp. 561-566.