Angular momentum primitives for human turning: Control implications for biped robots

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

Volumn , Issue , 2008, Pages 163-167

  Farrell, Matthew Todd ^a   Herr, Hugh ^a  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Angular momentum; Biped; Humanoid; Turning

Indexed keywords

ANGULAR MOMENTUM; BIOMECHANICS; FLIGHT DYNAMICS; INTELLIGENT ROBOTS; MACHINE DESIGN; ROBOTICS; SPIN DYNAMICS;

BIPED; BIPED ROBOTS; BIPEDAL ROBOTS; CENTER OF MASS; COMPLEX ACTIVITIES; DAILY ACTIVITIES; GAIN INSIGHTS; HUMAN BEINGS; HUMAN ENVIRONMENTS; HUMAN LOCOMOTIONS; HUMAN WALKINGS; HUMANOID; HUMANOID ROBOTS; SPIN ANGULAR MOMENTUMS; TRANSIENT BEHAVIORS;

TURNING;

EID: 63549134806     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2008.4755962     Document Type: Conference Paper

References (11)

1. Sakagami, Y.; Watanabe, R.; Aoyama, C.; Matsunaga, S.; Higaki, N.; Fujimura, K., "The intelligent ASIMO: system overview and integration," Intelligent Robots and System, 2002. IEEE/RSJ International Conference on, pp. 2478-2483 vol. 3, 2002
2. Au, S. K. and Herr, H. "Initial experimental study on dynamic interaction between an amputee and a powered ankle-foot prosthesis", Workshop on Dynamic Walking: Mechanics and Control of Human and Robot Locomotion, Ann Arbor, MI, May 2006.
3. Vukobratovic, M. and Borovac, B. 2004. "Zero moment point - thirtyfive years of its life." International Journal of Humanoid Robotics vol. 1, num. 1 157-173
4. Popovic, MB. Goswami, A. Herr, H 2005. "Ground Reference Points in Legged Locomotion:Definitions, Biological Trajectories and Control Implications "International Journal of Robotics Research vol. 24, no. 12, December 2005
5. Herr, H. Popovic. M. "Angular momentum in human walking" Journal of Experimental Biology, num. 211, 467-481, 2008
6. Goswami, A. "Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point" International Journal of Robotics Research, Vol. 18, No. 6, pp. 523-533 June 1999
7. Full, R. J. Koditschek, D. E. "Templates and Anchors: Neuromechanical Hypotheses of Legged Locomotion on Land" Journal of Experimental Biology, num. 202, 3325-3332, 1999
8. Hastie, T, Tibshirani, R. Friedman, J. "The Elements of Statistical Lear ning; Data Mining, Inference and Prediction" (Springer, New York).Weis, I., Voute, P., Schwab, M., et al. (2001)
9. Popovic, M., Englehart, A., Herr, H. (2004) "Angular Momentum Primitives for Human Walking: Biomechanics and Control", Proceedings of 2004 IEEE/RSJ international Conference on Intelligent Robots and Systems
10. Bishop, C. M. 1999. Bayesian PCA. In Proceedings of the 1998 Conference on Advances in Neural information Processing Systems II D. A. Cohn, Ed. MIT Press, Cambridge, MA, 382-388.
11. M. Orendurff, A. Segal, J. Berge, K. Rick, D. Spanier, G. Klute, "The kinematics and kinetics of turning: limb asymmetries associated with walking a circular path" Gait Posture 2005, Volume 23, Issue 1, Pages 106-111