Trajectory generation for dynamic bipedal walking through qualitative model based manifold learning

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2008, Pages 359-366

  Ramamoorthy, Subramanian ^a   Kuipers, Benjamin J ^b  

^a UNIVERSITY OF EDINBURGH   (United Kingdom)

^b University of Texas at Austin   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER NETWORKS; DYNAMICS; EFFICIENCY; ENERGY EFFICIENCY; INDUSTRIAL ENGINEERING; LEARNING SYSTEMS; MOTION PLANNING; PHASE SPACE METHODS; ROBOTICS; TRAJECTORIES;

INTERNATIONAL CONFERENCES; QUALITATIVE MODELLING;

ROBOTS;

EID: 51649109412     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2008.4543234     Document Type: Conference Paper

References (20)

1. E. R. Westervelt, G. Buche, and J. W. Grizzle, Experimental validation of a framework for the design of controllers that induce stable walking in planar bipeds, The International Journal of Robotics Research, 24(6):559-582, 2004.
2. A.G. Hofmann, M.B. Popovic, H.M. Herr, A sliding controller for bipedal balancing using integrated movement of contact and non-contact limbs, In Proc. IEEE International Conference on Intelligent Robots and Systems, 2004.
3. K. Yamane, Y. Nakamura, Dynamics filter - concept and implementation of on-line motion generator for human figures, IEEE Trans. Robotics and Automation, 19(3):421-432, 2003.
4. J.J. Kuffner, S. Kagami, K. Nishiwaki, M. Inaba, H. Inoue, Dynamically-stable motion planning for humanoid robots. Autonomous Robots (special issue on Humanoid Robotics), 12:105-118, 2002.
5. R.L. Tedrake. Applied Optimal Control for Dynamically Stable Legged Locomotion. PhD thesis, Massachusetts Institute of Technology, 2004.
6. J. Morimoto, J. Nakanishi, G. Endo, G. Cheng, C.G. Atkeson, G. Zeglin, Poincare-map-based reinforcement learning for biped walking, In Proc. IEEE International Conference on Robotics and Automation, 2005.
7. R. Chalodhorn, D.B. Grimes, G. Maganis, R.P.N. Rao, M. Asada, Learning humanoid motion dynamics through sensory-motor mapping in reduced dimensional spaces, In Proc. IEEE International Conference on Robotics and Automation, 2006.
8. T. McGeer, Dynamics and control of bipedal locomotion, J. Theoretical Biology, 163:277-314, 1993.
9. S.H. Collins, A. Ruina, R. Tedrake, M. Wisse, Efficient bipedal robots based on passive-dynamic walkers, Science, 307: 1082-1085, 2005.
10. J. Pratt, C-M. Chew, A. Torres, P. Dilworth, G. Pratt, Virtual model control: An intuitive approach for bipedal locomotion, Int. J. Robotics Research, 20(2): 129-143, 2001.
11. S. Ramamoorthy, B.J. Kuipers, Qualitative hybrid control of dynamic bipedal walking, In G. S. Sukhatme, S. Schaal, W. Burgard and D. Fox (Eds.), Robotics : Science and Systems II, pp. 89-96, MIT Press, 2007.
12. G.A. Cavagna, P.A. Willems, M.A. Legramandi and N.C. Heglund, Pendular energy transduction within the step in human walking, J. Experimental Biology, 205:3413-3422, 2002.
13. S. Mochon, T.A. McMahon, Ballistic walking: An improved model, Mathematical Biosciences, 52:241-260, 1980.
14. A.D. Kuo, Energetics of actively powered locomotion using the simplest walking model, J. Biomechanical Engineering, 124:113-120, 2002.
15. M.H. Dickinson, C.T. Farley, R.J. Full, M.A.R. Koehl, R. Kram and S. Lehman, How animals move: An integrative view, Science, 288:100-106, 2000.
16. R.J. Full, D.E. Koditschek, Templates and anchors: neuromechanical hypotheses of legged locomotion on land, J. Experimental Biology, 202(23): 3325-3332, 1999.
17. Y. Gutfreund, T. Flash, Y. Yarom, G. Fiorito, I. Segev, B. Hochner, Organization of octopus arm movements, J. Neuroscience, 16(22): 7297-7307, 1996.
18. J. B. Tenenbaum, V. de Silva, J. C. Langford, A global geometric framework for nonlinear dimensionality reduction, Science, 290(5500):2319-2323, 2000.
19. R. A. Peters, O. C. Jenkins, Uncovering manifold structures in robonaut's sensory-data state space, In Proc. IEEE International Conference on Humanoid Robotics, 2005.
20. K. Tatani, Y. Nakamura, Reductive mapping for sequential patterns of humanoid body motion, In Proc. Intl. Symp. Adaptive Motion of Animals and Machines, 2003.