The control of a bipedal running robot based on output zeroing considered rotation of the ankle joint

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2006, Pages 6456-6461

  Shimizu, Toshikazu ^a   Nakaura, Shigeki ^a   Sampei, Mitsuji ^a  

^a TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; DECISION THEORY; MOTION CONTROL;

BIPEDAL ROBOTS; OPTIMAL TRAJECTORY;

MOBILE ROBOTS;

EID: 39649084681     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/cdc.2006.377698     Document Type: Conference Paper

References (13)

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3. C.Chevallereau, Y.Aoustin: Optimal reference trajectories for Walking and running of a biped robot, Robotica, Volume 19, pp. 557-569.
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9. R.M.Murray, Z.Li, S.S.Sastry A Mathematical Introduction to Robotic Manipulation, CRCPress, 1994.
10. SONY Corp., QRIO: http://www.sony.net/SonyInfo/QRIO/
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12. HONDA, ASIMO: http://world.honda.co.jp/ASIMO/
13. Grizzle, RABBIT: http://www.eecs.umich.edu/~grizzle/ Initial_Running_Expt24Sept2004/