Generating human-like motions for an underactuated three-link robot based on the virtual constraints approach

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2007, Pages 5138-5143

  Mettin, Uwe ^a   La Hera, Pedro ^a   Freidovich, Leonid ^a   Shiriaev, Anton ^a,b  

^a UMEÅ UNIVERSITY   (Sweden)

^b NORWEGIAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Norway)

Author keywords

Humanoid robots; Motion planning; Underactuated mechanical systems; Virtual holonomic constraints

Indexed keywords

ALGORITHMS; FEEDBACK CONTROL; MATHEMATICAL MODELS; MOTION PLANNING; PARAMETER ESTIMATION; ROBOTS;

HUMANOID ROBOTS; UNDERACTUATED MECHANICAL SYSTEM; VIRTUAL HOLONOMIC CONSTRAINTS;

CONSTRAINT THEORY;

EID: 52949134534     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2007.4434799     Document Type: Conference Paper

References (21)

1. J. Aracil, F. Gordillo, and J.A. Acosta, "Stabilization of Oscillations in Inverted Pendulum", Proc. 15th IFAC World Congress, Barcelona, Spain, 2002.
2. J. Aracil, F. Gordillo, and E. Ponce, "Stabilization of Oscillations through Backstepping in High-dimensional Systems", IEEE Trans. Autom. Control, vol.50, pp.705-710, 2005.
3. Asimo: http://world.honda.com/ASIMO/.
4. C. Canudas de Wit, B.Espiau, and C. Urrea, "Orbital Stabilization of Underactuated Mechanical Systems", Proc. 15th IFAC Word Congress, Barcelona, Spain, 2002.
5. 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 Control Systems Magazine, vol. 23 (5), pp. 57-79, 2003.
6. C. Chevallereau, E. R. Westervelt, and J. W. Grizzle, "Asymptotically Stable Running for a Five-Link, Four-Actuator, Planar Bipedal Robot", Intern. Journal Robotics Research, vol.24 (6), pp.431-464, 2005.
7. M.Cluss, K.Laws, N.Martin, T.S.Nowicki, A.Mira, "The indirect measurement of biomechanical forces in the moving human body", American Journal of Physics, vol.74 (2), pp. 102-108, 2006.
8. EYES JAPAN Web3D Project: http://mocapdata.com/
9. J.W. Grizzle, G. Abba, and F. Plestan, "Asymptotically Stable Walking for Biped Robots: Analysis via Systems with Impulse Effects", IEEE Trans. Autom. Control, vol.46 (1), pp.51-64, 2001.
10. J.W. Grizzle, C.H.Moog, and C. Chevallereau, "Nonlinear Control of Mechanical Systems With an Unactuated Cyclic Variable", IEEE Trans. Autom. Control, vol. 50 (5), pp. 559-576, 2005.
11. J.Hauser and C.C.Chung, "Converse Lyapunov Functions for Exponentially Stable Periodic Orbits", Systems and Control Letters, vol. 23, pp. 27-34, 1994.
12. E.B.Hutchinson, P.O.Riley, D.E.Krebs, "A Dynamic Analysis of the Joint Forces and Torques During Rising form a Chair", IEEE Trans. Rehabilitation Engineering, vol.2 (2), pp.49-56, 1994.
13. Johnnie: http://www.amm.mw.tu-muenchen.de/index.php?id=182&L=1.
14. Naval Biodynamics Laboratory, Anthropometry and Mass Distribution for Human Analogues - Volume I: Military Male Aviators. Anthropology Research Project, Inc., New Orleans, 1988.
15. A.Shiriaev, L.Freidovich, A.Robertsson, and R.Johansson, "Virtual-constraints-based design of stable oscillations of Furuta pendulum: theory and experiments," IEEE Trans. Robotics, vol. 23 (4), pp. 827-832, 2007.
16. A.Shiriaev, L.Freidovich, A.Robertsson, R.Johansson, and S.Johansson, "Generating Stable Propeller Motions for Devil Stick", Proc. 53rd IFAC Workshop Lagrangian and Hamiltonian Methods for Nonlinear Control, Nagoya, Japan, 2006.
17. A. Shiriaev, J. Perram, and C. Canudas de Wit, "Constructive Tool for Orbital Stabilization of Underactuated Nonlinear Systems: Virtual Constraints Approach", IEEE Trans. Autom. Control, vol.50, pp. 1164-1176, 2005.
18. A. Shiriaev, J. Perram, A. Robertsson, and A. Sandberg, "Motion Planning for Virtually Constrained Mechanical Systems", Syst. & Control Letters, vol. 55, pp. 900-907, 2006.
19. C. Urrea, C. Canudas de Wit, and I.Mahla, "Orbital Stabilization Of An Underactuated Three-Link Planar Robot", Proc. Intern. Symp. Advanced Robot Systems and Virtual Reality, Bourges, France, 2002.
20. E. Westervelt, J.W. Grizzle, and C. Canudas de Wit, "Switching and PI Control of Walking Motions of Planar Biped Walkers", IEEE Trans. Autom. Control, vol.48 (2), pp.308-312, 2003.
21. E. Westervelt, J.W. Grizzle, and D.E. Koditschek, "Hybrid Zero Dynamics of Planar Biped Walkers" IEEE Trans. Autom. Control, vol. 48 (1), pp. 42-56, 2003.