Running pattern generation of humanoid biped with a fixed point and its realization

2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008

Volumn , Issue , 2008, Pages 299-305

  Cho, Baek Kyu ^a   Oh, Jun Ho ^a  

^a Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

ANGULAR MOMENTUM; INTELLIGENT ROBOTS;

CENTER OF MASS; FIXED POINTS; FREE JOINTS; MAXIMUM VELOCITIES; NUMERICAL APPROACHES; PATTERN GENERATIONS; RESOLVED MOMENTUM CONTROLS; SAGITTAL PLANES; UNDER-ACTUATED SYSTEMS;

ROBOTICS;

EID: 63549100192     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2008.4755968     Document Type: Conference Paper

References (15)

1. "The Honda Humanoid Robot ASIMO." Available: http://world.honda.com/ASIMO/
2. T. Ishida, Development of a Small Biped Entertainment Robot QRIO, in Int. Symp. On Micro-Nanomechatronics and Human Science, pp. 23-28, 2004.
3. Marc H. Raibert, Legged Robots That Balance (MIT Press, Cambridge, Massachusetts, 1986).
4. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi and H. Hirukawa, Resolved Momentum Control: Humanoid Motion Planning Based on the Linear and Angular Momentum, in IEEE IROS (2003), pp. 1644-1650.
5. S. Kajita, T. Nagasaki, K. Kaneko, K. Yokoi and K. Tanie, A Running Controller of Humanoid Biped HRP-2LR, in IEEE ICRA (2005), pp. 618-624.
6. R. Tajima and K. Suga, Motion Having a Flight Phase: Experiments Involving a One-legged Robot, in Int. Conf. on Intelligent Robots and Systems (2006), pp. 1726-1731.
7. M. Anthony Lewis, F. Tenore and R. Etienne-Cummings, CPG Design using Inhibitory Networks, in IEEE ICRA (2005), pp. 3682-3687.
8. th Portuguese Conference on Automatic Control (2006).
9. th Conference on Decision & Control (1999).
10. Jesse W. Grizzle, Gabriel Abba and Franck Plestan, Asymptotically Stable Walking for Biped Robots: Analysis via Systems with Impulse Effects, IEEE Trans. On Automatic Control 46(1) (2001) 51-64.
11. C. Chevallereau, E. R. Westervelt and J. W. Grizzle, Asymptotically Stable Running for a Five-link, Four-actuator, Planar Bipedal Robot, Intr. J. of Robotics Research 24(6) (2005) 431-464.
12. J. Kim and J. Oh, Walking Control of the Humanoid Platform KHR-1 based on Torque Feedback Control, in IEEE ICRA (2004), pp. 623-628.
13. J. Kim, S. Park, I. Park, and J. Oh, Development of Humanoid Robot Platform KHR-2(KAIST Humanoid Robot-2), in Humanoid (2004).
14. J. Kim, I. Park, J. Lee, M. Kim, B. Cho, and J. Oh, System Design and Dynamic Walking of Humanoid Robot KHR-2, in IEEE ICRA (2005).
15. S. Kajita, K. Kaneko, M. Morisawa, S. Nakaoka and H. Hirukawa, ZMP-based Biped Running Enhanced by Toe Springs, in IEEE ICRA (2007), pp. 3963-3969.