Gait generation for passive running via iterative learning control

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2006, Pages 5907-5912

  Satoh, Satoshi ^a   Fujimoto, Kenji ^a   Hyon, Sang Ho ^b  

^a NAGOYA UNIVERSITY   (Japan)

^b JAPAN SCIENCE AND TECHNOLOGY AGENCY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ITERATIVE METHODS; LEARNING ALGORITHMS; LEARNING SYSTEMS; MATHEMATICAL MODELS; PROBLEM SOLVING; ROBOTS;

HOPPING ROBOTS; OPTIMAL PASSIVE GAIT TRAJECTORIES; VARIATIONAL SYMMETRY;

GAIT ANALYSIS;

EID: 34250650473     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2006.282471     Document Type: Conference Paper

References (13)

1. T. McGeer, "Passive dynamic walking," Int. J. Robotics Research, vol. 9, no. 2, pp. 62-82, 1990.
2. K. Osuka and K. Kirihara, "Motion analysis and experiments of passive walking robot quartet ii," in Proc. the 2000 IEEE Int. Conf. on Robotics and Automation, 2000, pp. 3052-3056.
3. A. Sano, Y. Ikemata, and H. Fujimoto, "Analysis of dynamics of passive walking from storage energy and supply rate," in Proc. the 2003 IEEE Int. Conf. on Robotics and Automation, 2003, pp. 2478-2483.
4. A. Goswami, B. Espiau, and A. Keramane, "Limit cycles in a passive compass gait biped and passivity-mimicking control laws," Autonomous Robots, vol. 4, no. 3, pp. 273-286, 1997.
5. M. W. Spong, "Passivity-base control of the compass gait biped," in Proc. of IFAC World Congress, 1999, pp. 19-23.
6. F. Asano, M. Yamakita, N. Kamamichi, and Z. W. Luo, "A novel gait generation for biped walking robots based on mechanical energy constraint," IEEE Trans. Robotics and Automation, vol. 20, no. 3, pp. 565-573, 2004.
7. C. Thompson and M. Raibert, "Passive dynamic running," in Experimental Robotics I, ser. Lecture Notes in Control and Information Science, V. Hayward and O. khatib, Eds. Berlin: Springer-Verlag, 1989, vol. 139, pp. 74-83.
8. S. Hyon and T. Emura, "Energy-preserving control of passive one-legged running robot," Advanced Robotics, vol. 18, no. 4, pp. 357-381, 2004.
9. K. Fujimoto and T. Sugie, "Iterative learning control of Hamiltonian systems: I/O based optimal control approach," IEEE Trans. Autom. Contr., vol. 48, no. 10, pp. 1756-1761, 2003.
10. S. Satoh, K. Fujimoto, and S. Hyon, "Gait generation for a hopping robot via iterative learning control based on variational symmetry," 2006, to appear in Proc. IFAC 3rd Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control.
11. M. Ahmadi and M. Buehler, "Stable control of a simulated one-legged running robot with hip and leg compliance," IEEE Trans. Robotics and Automation, vol. 13, no. 1, pp. 96-104, 1997.
12. K. Fujimoto, T. Horiuchi, and T. Sugie, "Optimal control of Hamiltonian systems with input constraints via iterative learning," in Proc. 42nd IEEE Conf. on Decision and Control, 2003, pp. 4387-4392.
13. S. Hyon, "Hamiltonian-based running control of dynamic legged robots," Sytems, Control and Information, vol. 49, no. 7, pp. 260-265, 2005, (in Japanese).