Passive-based walking robot

IEEE Robotics and Automation Magazine

Volumn 14, Issue 2, 2007, Pages 52-62

  Wisse, Martin ^a   Feliksadal, Guillaume ^a   van Frankenhyyzen, Jan ^a   Moyer, Brian ^a  

^a DELFT UNIVERSITY OF TECHNOLOGY   (Netherlands)

Author keywords

Biped; Humanoid walking; Limit cycle walking; Passive dynamic walking

Indexed keywords

BIPED; DESIGN PROCESS; HUMANOID WALKING; LIMIT CYCLE WALKING; PASSIVE DYNAMIC WALKING; SIMULATION DATUM; WALKING MOTIONS; WALKING ROBOTS;

INTELLIGENT ROBOTS;

EID: 44649142237     PISSN: 10709932     EISSN: None     Source Type: Journal    
DOI: 10.1109/MRA.2007.380639     Document Type: Article

References (35)

1. C. Chevallereau, G. Abba, Y. Aoustin, F. Plestan, E.R. Westervelt, C. Canudas-De-Wit, and J.W. Grizzle, "RABBIT: A testbed for advanced control theory," IEEE Cont. Syst. Mag., vol. 23, no. 5, pp. 57-79, Oct. 2003.
2. C.P. Chou and B. Hannaford, "Measurement and modeling of McKibben pneumatic artificial muscles," IEEE Trans. Robot. Automat., vol. 12, no. 1, pp. 90-102, Feb. 1996.
3. S.H. Collins, A. Ruina, R.L. Tedrake, and M. Wisse, "Efficienct bipedal robots based on passive-dynamic walkers," Sci., vol. 307, pp. 1082-1085, Feb. 2005.
4. G.T. Fallis, "Walking toy ('Improvement in walking toys')". U. S. Patent, No. 376,588, Jan. 17, 1888.
5. M. Garcia, A. Chatterjee, A. Ruina, and M.J. Coleman, "The simplest walking model: Stability, complexity, and scaling," ASME J. Biomech. Eng., vol. 120, no. 2, pp. 281-288, Apr. 1998.
6. A. Goswami, "Foot-rotation indicator (FRI) point: A new gait planning tool to evaluate postural stability of biped robots," in Proc., IEEE Int. Conf. Robotics Automation, Detroit, MI, 1999, pp. 47-52.
7. K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, "The development of Honda humanoid robot," in Proc. IEEE Int. Conf. Robotics Automation Leuven, Belgium, 1998, pp. 1321-1326.
8. D.G.E. Hobbelen and M. Wisse, "A disturbance rejection measure for limit cycle walkers: The gait sensitivity norm." Submitted for publication.
9. D.G.E. Hobbelen and M. Wisse, "Limit cycle walking," in Humanoid Robots, 2007, ch. 24, pp. 451-468.
10. K. Kaneko, F. Kanehiro, S. Kajita, K. Yokoyama, K. Akachi, T. Kawasaki, S. Ota, and T. Isozumi, "Design of prototype humanoid robotics platform for HRP," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots Systems vol. 3, 2002, pp. 2431-2436.
11. A.D. Kuo, "Stabilization of lateral motion in passive dynamic walking," Int. J. Robot. Res., vol. 18, no. 9, pp. 917-930, Sept. 1999.
12. Y. Kuroki, M. Fujita, T. Ishida, K. Nagasaka, and J. Yamaguchi, "A small biped entertainment robot exploring attractive applications," in Proc. IEEE Int. Conf. Robotics Automation, Taipei, Taiwan, Sept. 2003, pp. 471-476.
13. Q. Li, A. Takanishi and I. Kato, "Learning control of compensative trunk motion for biped walking robot based on ZMP stability criterion," in Proc., IEEE/RSJ Int. Conf. Intelligent Robots Systems, vol. 1, 1992, pp. 597-603.
14. T. McGeer, "Powered flight, child's play, silly wheels, and walking machines," in Proc. IEEE Int. Conf. Robotics Automation, Piscataway, NJ, 1989, pp. 1592-1597.
15. T. McGeer, "Passive dynamic walking," Int. J. Robot. Res., vol. 9, no. 2, pp. 62-82, Apr. 1990.
16. T. McGeer, "Passive walking with knees," in Proc. IEEE Int. Conf. Robotics Automation, Los Alamitos, CA, 1990, pp. 1640-1645.
17. S. Mochon and T.A. McMahon, "Ballistic walking," J. Biomech., vol. 13, no. 1, pp. 49-57, 1980.
18. K. Nishiwaki, S. Kagami, Y. Kuniyoshi, M. Inaba, and H. Inoue, "Online generation of humanoid walking motion based on a fast generation method of motion pattern that follows desired ZMP," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots Systems, vol. 3, 2002, pp. 2684-2689.
19. R. Regele, W. Bott, and P. Levi, "Prorobot - Predictions for the future development of humanoid robots," in Autonome Mobile Systeme, R. Dillmann, H. Wörn, and T. Gockel, Eds. Berlin: Springer-Verlag, 2003, pp. 292-303.
20. Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki, and M. Fujita, "The intelligent ASIMO: System overview and integration," in Proc. Int. Conf. Intelligent Robots Systems, Lausanne, Switzerland, 30 Sept.-4 Oct. 2002, pp. 2478-2483.
21. A.L. Schwab and M. Wisse, "Basin of attraction of the simplest walking model," in Proc. ASME Design Engineering Tech. Conf., Pittsburgh, PA, 2001, no. DETC2001/VIB-21363.
22. T. Sugihara, Y. Nakamura, and H. Inoue, "Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum control," in Proc. IEEE Int. Conf. Robotics Automation, 2002, vol. 2, pp. 1404-1409.
23. K. Tanie, "Humanoid robot and its application possibility," in Proc. IEEE Int. Conf. Multisensor Fusion Integration Intelligent Systems 2003, pp. 213-214.
24. R.Q. van der Linde, "Design, analysis and control of a low power joint for walking robots, by phasic activation of mckibben muscles," IEEE Trans. Robot. Automat., vol. 15, no. 4, pp. 599-604, Aug. 1999.
25. R.Q. van der Linde, "Passive bipedal walking with phasic muscle contraction," Biol. Cybern., vol. 81, no. 3, pp. 227-237, Sept. 1999.
26. M. Vukobratovic and B. Borovac, "Zero-moment point - Thirty-five years of its life," Int. J. Humanoid Robot., vol. 1, no. 1, pp. 157-173, Mar. 2004.
27. M. Vukobratovic, B. Borovac, D. Surla, and D. Stokic, Biped Locomotion: Dynamics, Stability, Control and Applications. Berlin: Springer-Verlag, 1990.
28. E.R. Westervelt, J.W. Grizzle, and D.E. Koditschek, "Hybrid zero dynamics of planar biped walkers," IEEE Trans. Automat. Contr., vol. 48, no. 1, pp. 42-56, 2003.
29. M. Wisse, "Three additions to passive dynamic walking: Actuation, an upper body, and 3-D stability," Int. J. Humanoid Robot., vol. 2, no. 4, pp. 459-478, Dec. 2005.
30. M. Wisse, D.G.E. Hobbelen, and A.L. Schwab, "Adding the upper body to passive dynamic walking robots by means of a bisecting hip mechanism," IEEE Trans. Robotics, in press, 2007.
31. M. Wisse and A.L. Schwab, "A 3-D passive dynamic biped with roll and yaw compensation," Robotica, vol. 19, no. 3, pp. 275-284, 2001.
32. M. Wisse and A.L. Schwab, "Skateboards, bicycles, and 3-D biped walkers; velocity dependent stability by means of lean-to-yaw coupling," Int. J. Robot. Res., vol. 24, no. 6, pp. 417-429, 2005.
33. M. Wisse, A.L. Schwab, and F.C.T. van der Helm, "Passive dynamic walking model with upper body," Robotica, vol. 22, no. 6, pp. 681-688, 2004.
34. M. Wisse, A.L. Schwab, R.Q. van der Linde, and F.C.T. van der Helm, "How to keep from falling forward; elementary swing leg action for passive dynamic walkers," IEEE Trans. Robotics, vol. 21, no. 3, pp. 393-401, 2005.
35. M. Wisse and J. van Frankenhuyzen, "Design and construction of Mike; A 2-D autonomous biped based on passive dynamic walking," in Adaptive Motion of Animals and Machines, H. Kimura and K. Tsuchiya, Eds. New York: Springer-Verlag, 2006. pp. 143-154.