ZMP-based biped running enhanced by toe springs

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 3963-3969

  Kajita, Shuuji ^a   Kaneko, Kenji ^a   Morisawa, Mitsuharu ^a   Nakaoka, Shinichiro ^a   Hirukawa, Hirohisa ^a  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

BIPED LOCOMOTION; COMPUTER SIMULATION; MOMENTUM; TRAJECTORIES;

BIPED ROBOTS; FOOT TRAJECTORIES; MOMENTUM CONTROL; TOE SPRINGS;

ROBOTICS;

EID: 36348994944     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.364087     Document Type: Conference Paper

References (18)

1. M. Gienger, F. Löffler, and F. Pfeiffer. Toward the design of a biped jogging robot. Proc. of the 2001 ICRA, pages 4140-4145, 2001.
2. K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka The development of honda humanoid robot. Proc. of the 1998 ICRA, pages 1321-1326, 1998.
3. H. Inoue, S. Tachi, Y. Nakamura, K. Hirai, et al. Overview of humanoid robotics project of meti. Proc. Int. Symp. Robotics, pages 1478-1482, 2001.
4. K. Nishiwaki, T. Sugihara, S. Kagami, F. Kanehiro, M. Inaba, and H. Inoue. Design and development of research platform for perceptionaction integration in humanoid robot: H6. Proc. Int. Conference on Intelligent Robots and Systems, pages 1559-1564, 2000.
5. J. Yamaguchi, E. Soga, S. Inoue, and A. Takanishi. Development of a bipedal humanoid robot - control method of whole body cooperative dynamic biped walking -. Proc. of the 1999 ICRA, pages 368-374, 1999.
6. J. Kim and J. Oh. Walking control of the humanoid platform khr-1 based on torque feedback control. Proc. of the 2004 ICRA, pages 623-628, 2004.
7. M. Raibert. Legged Robots that Balance. MIT Press, Cambridge, MA, 1986.
8. Robert R. Playter and Marc H. Raibert. Control of a biped somersault in 3d. Proc. of IFToMM-jc International Symposium on Theory of Machines and Mechanisms (in Nagoya, Japan), pages 669-674, 1992.
9. J. K. Hodgins. Three-dimensional, human running. Proc. of the 1996 ICRA, pages 3271-3277, 1996.
10. M. Ahmadi and .. Buehler. The arl monopod ii running robot: Control and energetics. Proc. of the 1999 ICRA, pages 1689-1694, 1999.
11. K. Nagasaka, Y. Kuroki, S. Suzuki, Y. Itoh, and J. Yamaguchi. Integrated motion control for walking, jumping and running on a small bipedal entertainment robot. Proc. of the 2004 ICRA, pages 3.1893194, 2004.
12. S. Kajita, T.Nagasaki, et al. A hop towards running humanoid biped. ICRA, pages 629-635, 2004.
13. C. Chevallereau, E.R. Westervelt, and J.W. Grizzle. Asymptotically stable running for a five-link, four-actuator, planar bipedal robot. Intr. J. of Robotics Research, 24(6):431-464, 2005.
14. Miomir Vukobratović and J.Stepanenko. On the stability of anthropomorphic systems. Mathematical. Biosciences, 15:1-37, 1972.
15. T. Nagasaki, S. Kajita, K. Kaneko, et al. A running experiment of humanoid biped. Proc. of IROS2004, pages 136-141, 2004.
16. 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. Proc. of Int. Conference on Huanoid Robotics, 2000.
17. Ramzi Sellaouti, Olivier Stasse, et al. Faster and smoother walking of humanoid hrp-2 with compliant toe joints. Proc. of IROS2006 (to appear), 2006.
18. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa. Resolved momentum control: Humanoid motion planning based on the linear and angular momentum. Proc. of the 2003 IROS, pages 1644-1650, 2003.