Velocity-based stability margins for fast bipedal walking

Lecture Notes in Control and Information Sciences

Volumn 340, Issue , 2006, Pages 299-324

  Pratt, J E ^a   Tedrake, R ^b  

^a INSTITUTE FOR HUMAN AND MACHINE COGNITION   (United States)

^b MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

BIOMECHANICS; BIPED LOCOMOTION; DEGREES OF FREEDOM (MECHANICS); FEEDBACK CONTROL; PENDULUMS; ROBOTICS;

BIPEDAL WALKING; CENTER OF MASS; CENTER OF PRESSURE; DEGREE OF FREEDOM; INTERNAL ANGULAR MOMENTUM; INVERTED PENDULUM MODEL; STABILITY MARGINS; VELOCITY-BASED;

STABILITY;

EID: 34547167400     PISSN: 01708643     EISSN: None     Source Type: Book Series    
DOI: 10.1007/978-3-540-36119-0_14     Document Type: Conference Paper

References (34)

1. Muhammad Abdallah and Ambarish Goswami. A biomechanically motivated two-phase strategy for biped upright balance control. IEEE International Conference on Robotics and Automation (ICRA), 2005.
2. Michael J. Coleman. A Stability-Study of a Three-Dimensional PassiveDynamic Model of Human Gait. PhD thesis, Cornell University, 1998.
3. Steven H. Collins, Andy Ruina, Russ Tedrake, and Martijn Wisse. Efficient bipedal robots based on passive-dynamic walkers. Science, 307:1082-1085, February 18 2005.
4. Steven H. Collins, Martijn Wisse, and Andy Ruina. A three-dimensional passive-dynamic walking robot with two legs and knees. International Journal of Robotics Research, 20(7):607-615, July 2001.
5. E.R. Dunn and R.D. Howe. Foot placement and velocity control in smooth bipedal walking, pages 578-583. IEEE International Conference on Robotics and Automation (ICRA), 1996.
6. Elena Garcia, Joaquin Estremera, and Pablo Gonzalez de santos. A classification of stability margins for walking robots. In Proceedings of the International Conference on Climbing and Walking Robots (CLAWAR), 2002.
7. A. Goswami. Postural stability of biped robots and the foot rotation indicator (FRI) point. International Journal of Robotics Research, 18(6), 1999.
8. A. Goswami, B. Espiau, and A. Keramane. Limit cycles and their stability in a passive bipedal gait, pages 246-251. IEEE International Conference on Robotics and Automation (ICRA), 1996.
9. K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka. The development of Honda humanoid robot. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 1321-1326, 1998.
10. Qiang Huang, Kazuhito Yokoi, Shuuji Kajita, Kenji Kaneko, Hirohiko Arai, Noriho Koyachi, and Kazuou Tanie. Planning walking patterns for a biped robot. IEEE Transactions on Robotics and Automation, 17(3):280-289, June 2001.
11. S. Kajita and K. Tani. Study of dynamic biped locomotion on rugged terrainderivation and application of the linear inverted pendulum mode. volume 2, pp. 1405-1411. IEEE International Conference on Robotics and Automation (ICRA), 1991.
12. Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kazuhito Yokoi, and Hirohisa Hirukawa. The 3d linear inverted pendulum mode: a simple modeling for a biped walking pattern generation. pages 239-246. IEEE International Conference on Intelligent Robots and Systems (IROS), 2001.
13. T. Kato, A. Takanishi, H. Jishikawa, and I. Kato. The realization of the quasidynamic walking by the biped walking machine. In A. Morecki, G. Bianchi, and K. Kedzior, editors, Fourth Symposium on Theory and Practice of Walking Robots, pp. 341-351. Warsaw: Polish Scientific Publishers, 1983.
14. Hassan K. Khalil. Nonlinear Systems. Prentice Hall, 3rd edition, December 2001.
15. A.D. Kuo and F. E. Zajac. Human standing posture: multijoint movement strategies based on biomechanical constraints. Progress in Brain Research, 97:349-358, 1993.
16. Tad McGeer. Passive walking with knees. pages 1640-1645. IEEE International Conference on Robotics and Automation (ICRA), 1990.
17. H. Miura and I. Shimoyama. Dynamic walk of a biped. International Journal of Robotics Research, 3(2):60-74, 1984.
18. Jun Morimoto and Christopher Atkeson. Minimax differential dynamic programming: An application to robust biped walking. Advances in Neural Information Processing Systems, 2002.
19. Hun ok Lim and Atsuo Takanishi. Waseda biped humanoid robots realizing human-like motion. pages 525-530. IEEE International Workshop on Advanced Motion Control, 2000.
20. Marko Popovic, Amy Englehart, and Hugh Herr. Angular momentum primitives for human walking: Biomechanics and control. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004.
21. Marko Popovic, Ambarish Goswami, and Hugh Herr. Ground reference points in legged locomotion: Definitions, biological trajectories and control implications. International Journal of Robotics Research, 24(12):1013-1032, Dec 2005.
22. Jerry Pratt. Exploiting Inherent Robustness and Natural Dynamics in the Control of Bipedal Walking Robots. PhD thesis, Computer Science Department, Massachusetts Institute of Technology, 2000.
23. Jerry Pratt and Gill Pratt. Intuitive control of a planar bipedal walking robot. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 1998.
24. Jerry Pratt, A. Torres, Peter Dilworth, and Gill Pratt. Virtual actuator control. IEEE International Conference on Intelligent Robots and Systems, 1996.
25. CL. Shih and W.A. Gruver. Control of a biped robot in the double-support phase. IEEE Transactions on Systems, Man and Cybernetics, 22(4):729-735, 1992.
26. Michael Sipser. Introduction to the Theory of Computation. Course Technology, second edition, 2005.
27. Adam C. Smith and Matthew D. Berkemeier. Passive dynamic quadrupedal walking. In Proceedings of the 1997 IEEE Conference on Robotics and Automation, vol. 1, pp. 34-39. IEEE, April 1997.
28. Russ Tedrake and Jerry E. Pratt. Probabilistic stability in legged systems and the mean first passage time (FPT) stability margin. In progress, 2005.
29. Russ Tedrake, Teresa Weirui Zhang, Ming-fai Fong, and H. Sebastian Seung. Actuating a simple 3D passive dynamic walker. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), vol. 5, pp. 4656-4661, New Orleans, LA, April 2004.
30. Miomir Vukobratovic and Branislav Borovac. Zero-moment point - thirty five years of its life. International Journal of Humanoid Robotics, 1(1):157-173, 2004.
31. E. R. Westervelt, J. W. Grizzle, and D. E. Koditschek. Zero dynamics of underactuated planar biped walkers. IFAC-2002, Barcelona, Spain, pp. 1-6, Jul 2002.
32. Pierre-Brice Wieber. On the stability of walking systems. In Proceedings of the International Workshop on Humanoid and Human Friendly Robots, 2002.
33. Martijn Wisse. Essentials of dynamic walking; Analysis and design of two-legged robots. PhD thesis, Technische Universiteit Delft, 2004.
34. J. Yamaguchi, N. Kinoshita, A. Takanishi, and I. Kato. Development of a dynamic biped walking system for humanoid - development of a biped walking robot adapting to the humans' living floor, pages 232-239. IEEE International Conference on Robotics and Automation (ICRA), 1996.