Topological duality in humanoid robot dynamics

ANZIAM Journal

Volumn 43, Issue 2, 2001, Pages 183-194

  Ivancevic, V ^a   Pearce, C E M ^b  

^a Torson Productions Pty Ltd   (Australia)

^b UNIVERSITY OF ADELAIDE   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 4944241087     PISSN: 14461811     EISSN: None     Source Type: Journal    
DOI: 10.1017/s144618110001302x     Document Type: Article

References (36)

1. R. Abraham, J. Marsden and T. Ratiu, Manifolds, tensor analysis and applications, Appl. Math. Sei. (New York, Springer, 1988).
2. V.I. Arnold, Mathematical methods of classical mechanics, 2nd ed.. Graduate Texts in Math. (New York, Springer, 1989).
3. R. Dot and L.W. Tu, Differential forms in algebraic topology (New York, Springer, 1982).
4. F. Bullo, Nonlinear control of mechanical systems: a Kiemannian geometry approach. Technical Report CDS 98-010 for Control and Dynamical System Option, 1998.
5. P. Channon, S. Hopkins and D. Pham, "A variational approach to the optimization of gait for a bipedal robot",/ Mech, Eng. Sei. 210 (2) (1996) 177-186.
6. H.J. Chiel, R. D. Beer, R. D. Quinn and K. S. Espenschied, "Robustness of a distributed neural network controller for locomotion in a hexapod robot", IEEE Trans. Robotics Auto. 8 (3) (1992) 293-303.
7. Y. Choquet-Bruhat, M.C. DeWitt and M. Dillard-Blieck, Analysis, manifolds and physics. Rev. ed., (Amsterdam, North-Holland, 1982).
8. G. De Rham, Diffère/niable manifolds (transi, from French), Comprehensive Studies in Math. (Berlin, Springer, 1984).
9. M. Dorigo and U. Schnepf, "Genetics-based machine learning and behavior-based robotics: a new synthesis", IEEE Trans. Syst. Man and Cybernetics 23 (1993) 141-154.
10. S. Hashimoto, "Humanoid robots in Waseda University: Hadaly-2 and Wabian." In IARP First International Workshop on Humanoid and Human Friendly Robotics, 1-2, 1998.
11. N.G. Hatsopoulos, "Coupling the neural and physical dynamics in rhythmic movements," Neural Computation 8 (1996) 567-581.
12. Y. Hurmuzlu, "Dynamics of bipedal gait",.J. Appl. Mech. 60 (1993) 331-343.
13. E. Igarashi and T. Nogai, "Study of lower level adaptive walking in the saggital plane by a biped locomotion robot", Advanced Robotics 6 (4) (1992) 441-459.
14. V. Ivancevic, Introduction to biomeclianical systems: modeling, control and learning (in Serbian) (Belgrade, Scientific Book, 1991).
15. H. Ko and N. Badler, "Animating human locomotion with inverse dynamics", IEEE Computer Graphics Appl. 16 (1996) 50-59.
16. J. Lieh, "Computer oriented closed-form algorithm for constrained multibody dynamics for robotics applications". Mechanism and Machine Theory 29 (3) (1994) 357-371.
17. S. Mac Lane, Categories for the working mathematician. Graduate Texts in Math. (New York, Springer, 1971).
18. J.E. Marsden and T. S. Ratiu, Introduction to mechanics and symmetry, Texts in Appl. Math. 17 (New York, Springer, 1994).
19. T. McGeer, "Passive dynamic walking", Internat.J. Robotics Res. 9 (2) (1990) 62-82.
20. J. Pratt and G. Pratt, "Exploiting natural dynamics in the control of a planar bipedal walking robot", Proc. 36th Annual Allerton Conf. on Comm., Control and Comp. (1998) 739-748.
21. C. Pribe, S. Grossberg and M.A. Cohen, "Neural control of interlimb oscillations II. Biped and quadrupled gaits and bifurcations". Biological Cybernetics 77 (1997) 141-152.
22. M. Puta, Hamiltonian mechanical systems and geometric quantization (Dordrecht, Kluwer, 1993).
23. P. Sardain, M. Rostami and G. Bessonnet, "An anthropomorphic biped robot: dynamic concepts and technological design", IEEE Trans. Syst. Man and Cybernetics 28a (6) (1999) 823-838.
24. S. Schaal, "Is imitation learning the route to humanoid robots?", Trends in Cognitive Sei. 3 (6) (1999) 233-242.
25. S. Schaal and C.G. Atkeson, "Constructive incremental learning from only local information", Neural Comp. 10 (1998) 2047-2084.
26. H. Seraji, "Configuration control of redundant manipulators: theory and implementation", IEEE Trans. Robotics Auto. 5 (4) (1989).
27. D. Seward, A. Bradshaw andF. Margrave, "The anatomy of a humanoid robot", Robotica 14 (1996) 437-443.
28. C.L. Shih, W. Gruver and T. Lee. "Inverse kinematics and inverse dynamics for control of a biped walking machine" J. Robotic Syst. 10 (1993) 531-555.
29. C.L. Shih and C. A. Klein, "An adaptive gait for legged walking machines over rough terrain", IEEE Trans. Syst. Man and Cybernetics 23 (1993) 1150-1154.
30. M. Vukobratovic, "On the stability of biped locomotion", IEEE Trans. Biotned. Eng. 17 (1970) 25-36.
31. M. Vukobratovic, Legged locomotion, robots and anthropomorphic mechanisms (Belgrade, Mi-hailo Pupin, 1975).
32. M. Vukobratovic, B. Borovac, D. Surla and D. Stokic, Biped locomotion: dynamics, stability, control and applications (Berlin, Springer, 1990).
33. M. Vukobratovic, D. Juricic and A. Frank, "On the control and stability of one class of biped locomotion systems", ASMEJ. Basic Eng. 92 (1970) 328-332.
34. M. Vukobratovic and Y. Stepanenko, "On the stability of anthropomorphic systems", Math. Biosci. 15 (1972) 1-37.
35. M. Vukobratovic and Y. Stepanenko, "Mathematical models of general anthropomorphic systems", Math. Biosci. 17 (1973) 191-242.
36. T. Yoshikawa, "Analysis and control of robot manipulators with redundancy", in Robotics Res. (Eds M. Brady and R. Paul, Cambridge MA, MIT Press, 1984) 735-747.