The RunBot architecture for adaptive, fast, dynamic walking

Proceedings - IEEE International Symposium on Circuits and Systems

Volumn , Issue , 2007, Pages 1181-1184

  Manoonpong, Poramate ^a   Geng, Tao ^b   Porr, Bernd ^c   Wörgötter, Florentin ^a  

^a UNIVERSITY OF GÖTTINGEN   (Germany)

^b UNIVERSITY OF ESSEX   (United Kingdom)

^c UNIVERSITY OF GLASGOW   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; DYNAMICAL SYSTEMS; MOBILE ROBOTS; PLASTICITY;

BIOMECHANICAL DESIGN; BIPED ROBOTS; DYNAMIC WALKING; HIERARCHICAL LEVELS; STRUCTURAL COUPLING;

BIPED LOCOMOTION;

EID: 34548831708     PISSN: 02714310     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/iscas.2007.378261     Document Type: Conference Paper

References (11)

1. S. H. Collins, A. Ruina, R. Tedrake and M. Wisse, "Efficient Bipedal Robots Based on Passive Dynamic Walkers," Science, vol. 307, pp. 1082-1085, 2005.
2. K. Okada, T. Ogura, A. Haneda, D. Kousaka, H. Nakai, M. Inaba and H. Inoue, "Integrated system software for HRP2 humanoid," Proc. IEEE Int. Conf. on Robotics and Automation, pp. 3207-3212, 2004.
3. Y. Ogura, H. Kondo, A. Morishima, Hun-ok Lim and A. Takanishi, "Development of a new humanoid robot WABIAN-2," Proc. IEEE Int. Conf. on Robotics and Automation, pp. 76-81, 2006.
4. M. Vukobratovic, B. Borovac, D. Surla and D. Stokic, Biped locomotion: dynamics, stability, control and application, Springer-Verlag, 1990.
5. A. A. Biewener, C. T. Farley, T. J. Roberts and M. Temaner, "Muscle mechanical advantage of human walking and running: implications for energy cost," J. Appl. Physiol., vol. 97, pp. 2266-2274, 2004.
6. T. Geng, B. Porr and F. Wörgötter, "Fast Biped Walking with A Sensordriven Neuronal Controller and Real-time Online Learning," Int. J. Robot. Res., Sage press, vol. 25, no. 3, pp. 243-259, 2006.
7. T. Geng, B. Porr and F. Wörgötter, "A Reflexive Neural Network for Dynamic Biped Walking Control," Neural Computation, MIT press, vol. 18, no. 5, pp. 1156-1196, 2006.
8. P. Manoonpong, T. Geng and F. Wörgötter, "Exploring the dynamic walking range of the biped robot "RunBot" with an active upper-body component," Proc. IEEE-RAS Int. Conf. Humanoid Robots, on CD, 2006.
9. R. A. Brooks, "How to build complete creatures rather than isolated cognitive simulators," Architectures for Intelligence, pp. 225-239, 1991.
10. L,H,E applies to the extensor of the hip of the left leg whereas S would apply to flexor and extensor of the hip and knee of the left and right legs.
11. B. Porr and F. Wörgötter, "Strongly Improved Stability and Faster Convergence of Temporal Sequence Learning by Using Input Correlations Only," Neural Computation, vol. 18, no. 6, pp. 1380-1412, 2006.