Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2007, Pages 2047-2052

  Degallier, Sarah ^a   Righetti, Ludovic ^a   Ijspeert, Auke ^a  

^a EPFL   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER NETWORKS; CONTROL THEORY; DYNAMICAL SYSTEMS; FEEDBACK; INTELLIGENT ROBOTS; INTELLIGENT SYSTEMS; MODULATION; MOTORS; ONLINE SYSTEMS; ROBOTICS; ROBOTS; SCHRODINGER EQUATION;

HUMANOID ROBOT; INTERNATIONAL CONFERENCES; IRREGULAR SURFACES;

BIOMECHANICS;

EID: 51349092459     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2007.4399478     Document Type: Conference Paper

References (16)

1. N.G. Tsakarakis, G. Metta, G. Sandini, D. Vernon, R. Beira, F. Becchi, L. Righetti, J. Santos-Victor, A.J. Ijspeert, M.C. Carrozza, and D.G. Caldwell. iCub - The Design and Realization of an Open Humanoid Platform for Cognitive and Neuroscience Research. Journal of Advanced Robotics, Special Issue on Robotic platforms for Research in Neuroscience, 21(10), 2007. In press.
2. A. J. Ijspeert, J. Nakanishi, and S. Schaal. Learning attractor landscapes for learning motor primitives. In S. Thrun S. Becker and K. Obermayer, editors, Neural Information Processing Systems 15 (NIPS2002), pages 1547-1554, 2003.
3. A. J. Ijspeert, J. Nakanishi, and S. Schaal. Learning rhythmic movements by demonstration using nonlinear oscillators. In Proceedings of the IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS2002), pages 958-963. 2002.
4. G. Schöner and M. Dose. A dynamical systems approach to task-level system integration used to plan and control autonomous vehicle motion. Robotics and Autonomous Systems, 10(4):253-267, 1992.
5. S. Schaal, S. Kotosaka, and D. Sternad. Nonlinear dynamical systems as movement primitives. In International Conference on Humanoid Robotics. Cambridge, MA, Sept 6-7, 2001, pages 117-124. Springer, 2001.
6. G. Schöner and C.M.R Santos. Control of movement time and sequential action through attractor dynamics; A simulation study demonstrating object interception and coordination. In Neurons, Networks, and Motor Behavior, 2001.
7. S. Degallier, C. P. Santos, L. Righetti, and A. Ijspeert. Movement generation using dynamical systems: a humanoid robot performing a drumming task. In IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS06), 2006.
8. L. Righetti, J. Buchli, and A.J. Ijspeert. From dynamic hebbian learning for oscillators to adaptive central pattern generators. In Proceedings of 3rd International Symposium on Adaptive Motion in Animals and Machines - AMAM 2005, page 45. Verlag ISLE, Ilmenau, 2005. Abstract.
9. M.C. Tresch, Ph. Saltiel, and E. Bizzi. The construction of movement by the spinal cord. Nature Neuroscience, 2:162-167, 1999.
10. E. Bizzi, A. D'Avella, P. Saltiel, and M. Tresch. Modular organization of spinal motor systems. Neuroscientist, 8(5):437-442, 2002.
11. L. Righetti and A.J. Ijspeert. Design methodologies for central pattern generators: an application to crawling humanoids. In Proceedings of Robotics: Science and Systems, Philadelphia, USA, August 2006.
12. O. Michel. Webots tm: Professional mobile robot simulation. International Journal of Advanced Robotic System, 1:39-42, 2004.
13. J.K. Hodgins and M.H. Raibert. Adjusting step length for rough terrain locomotion,. IEEE Transactions on Robotics and Automation, YEAR = 1991, VOLUME = 7, NUMBER =3, PAGES = 289-291,.
14. L. Righetti, J. Buchli, and A.J. Ijspeert. Dynamic hebbian learning in adaptive frequency oscillators. Physica D, 216(2):269-281, 2006.
15. K.E. Adolph, B. Vereijken, and A.B. Denny. Learning to crawl. Child Development, 69:1299-1312, 1998.
16. L. Righetti, A. Nylén, K. Rosander, and A.J. Ijspeert. Kinematics of crawling in infants. In Submitted to the Journal of Experimental Biology.