A study of energy-saving shoes for robot considering lateral plane motion

IEEE Transactions on Industrial Electronics

Volumn 55, Issue 3, 2008, Pages 1271-1276

  Minakata, Hideaki ^a   Seki, Hirokazu ^a   Tadakuma, Susumu ^a  

^a CHIBA INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

Legged locomotion; Motion control; Robots

Indexed keywords

COMPUTER SIMULATION; KINETIC ENERGY; MOTION CONTROL; OPTIMIZATION;

ENERGY-SAVING SHOES; LATERAL PLANE MOTION; LEGGED LOCOMOTION;

ROBOTICS;

EID: 41349096076     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2007.911919     Document Type: Article

References (10)

1. E. Ohashi, T. Aiko, T. Tsuji, H. Nishi, and K. Ohnishi, "Collision avoidance method of humanoid robot with arm force," IEEE Trans. Ind. Electron., vol. 54, no. 3, pp. 1632-1641, Jun. 2007.
2. T. McGeer, "Passive dynamic walking," Int. J. Robot. Res., vol. 9, no. 2, pp. 62-82, 1990.
3. A. Goswann et al., "A study of the passive gait of a compass-like biped robot: Symmetry and chaos," Int. J. Robot. Res., vol. 17, no. 12, pp. 1282-1301, 1998.
4. K. Ohsuka, "Legged robot and control scheme based on a sense of passive dynamic walking," JRSJ, vol. 20, no. 3, pp. 233-236, 2002.
5. A. Ruina, "The biorobotics and locomotion lab," [Online]. Available: http://ruina.tam.cornell.edu/research/index.htm
6. H. Minakata, "A study of flexible shoe system for biped robot," in Proc. 8th IEEE Int. Workshop Adv. Motion Control, Kawasaki, Japan, 2004, pp. 387-392.
7. H. Minakata and S. Tadakuma, "An experimental study of energy-saving shoes for robot as sagittal plane assistance," IEEJ Trans. Ind. Appl., vol. 125, no. 6, pp. 541-547, 2005.
8. H. Minakata, R. Ito, and S. Tadakuma, "A study of energy-saving shoe system - Experimental results and discussions of expansion to non-split shoe system," Proc. IEEJ, no. 3, pp. 103-104, 2002.
9. M.-C. Chien and A.-C. Huang, "Adaptive control for flexible-joint electrically driven robot with time-varying uncertainties," IEEE Trans. Ind. Electron., vol. 54, no. 2, pp. 1032-1038, Apr. 2007.
10. H. Kimura, Y. Fukuoka et al., "Adaptive dynamic walking of a quadruped robot using a neural system model," Adv. Robot., vol. 15, no. 8, pp. 859-876, Dec. 2001.