Planar bipedal jumping gaits with stable landing

IEEE Transactions on Robotics

Volumn 25, Issue 5, 2009, Pages 1030-1046

  Goswami, Dip ^a   Vadakkepat, Prahlad ^a  

^a NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

Author keywords

Biped robot; Closed loop dynamics (CLD); Critical potential index and critical kinetic index; Jumping gaits; Landing stability; Multiple Lyapunov function (MLF); Singular perturbation; Switching zero dynamics (ZD)

Indexed keywords

BIPED ROBOT; CLOSED-LOOP DYNAMICS (CLD); CRITICAL POTENTIAL INDEX AND CRITICAL KINETIC INDEX; JUMPING GAITS; MULTIPLE LYAPUNOV FUNCTION (MLF); SINGULAR PERTURBATION;

DIFFERENTIAL EQUATIONS; LANDING; LYAPUNOV FUNCTIONS; MAGNETIC LEAKAGE; ROBOTS; SWITCHING; SYSTEM STABILITY;

ROTATION;

EID: 70350217927     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2009.2026502     Document Type: Article

References (34)

1. M. Vukobratović, Biped Locomotion: Dynamics, Stability, Control and Application. New York: Springer-Verlag, 1990.
2. K. Nagasaka, Y. Kuroki, S. Suzuki, Y. Itoh, and J. Yamaguchi, "Integrated motion control for walking, jumping and running on a small bipedal entertainment robot," in Proc. IEEE Int. Conf. Robot. Autom. Apr. 26-May 1, 2004, vol. 4, pp. 3189-3194.
3. P. Vadakkepat, D. Goswami, and C. M. Hwee, "Disturbance rejection by online ZMP compensation," Robotica, vol. 26, pp. 9-17, 2007.
4. S. N. Napoleon and M. Sampei, "Balance control analysis of humanoid robot based on ZMP feedback control," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2002, vol. 3, pp. 2437-2442.
5. A. Goswami, "Postural stability of biped robots and the foot-rotation indicator (FRI) point," Int. J. Robot. Res., vol. 18, no. 6, pp. 523-533, 1999.
6. C. Chevallereau, E. R. Westervelt, and J. W. Grizzle, "Asymptotically stable running for a five-link, four-actuator, planar bipedal robot," Int. J. Robot. Res., vol. 24, no. 6, pp. 431-464, 2005.
7. E. R Westervelt, J. W. Grizzle, and D. E. Koditschek, "Hybrid zero dynamics of planar biped walkers," IEEE Trans. Autom. Control, vol. 48, no. 1, pp. 42-56, Jan. 2003.
8. M. Nikkhah, H. Ashrafiuon, and F. Fahimi, "Robust control of underactuated bipeds using sliding modes," Robotica, vol. 25, no. 3, pp. 367-374, May 2007.
9. M. D. Berkemeier and R. S. Fearing, "Tracking fast inverted trajectories of the underactuated acrobot," IEEE Trans. Robot. Autom., vol. 15, no. 4, pp. 740-750, Aug. 1999.
10. A. Isidori, Nonlinear Control Systems. New York: Springer-Verlag, 1995.
11. D. E. Koditschek and M. Buhler, "Analysis of a simplified hopping robot," Int. J. Robot. Res., vol. 10, no. 6, pp. 587-605, 1991.
12. M. H. Raibert, H. B. Brown, Jr., and M. Chepponis, "Experiments in balance with a 3D one-legged hopping-machine," Int. J. Robot. Res. vol. 3, no. 2, pp. 75-92, 1984.
13. S. Kajita, T. Nagasaki, K. Kaneko, K. Yokoi, and K. Tanie, "A hop towards running humanoid biped," in Proc. IEEE Int. Conf. Robot. Autom., 2004, vol. 1, pp. 629-635.
14. Honda Private Ltd. (2009, Mar. 30). [Online]. Available: http:// world.honda.com/HDTV/ASIMO/
15. K. Arikawa and T. Mita, "Desing of multi-DOF jumping robot," in Proc. IEEE Int. Conf. Robot. Autom., 2002, pp. 3992-3997.
16. S. Sakka and K. Yokoi, "Humanoid vertical jumping based on force feedback and inertial forces optimization," in Proc. IEEE Int. Conf. Robot. Autom., Apr. 18-22, 2005, pp. 3752-3757.
17. V. Nunez and N. Nadjar-Gauthier, "Control strategy for vertical jump of humanoid robots," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. Aug. 2-6, 2005, pp. 2253-2258.
18. T. Hirano, T. Sueyoshi, and A. Kawamura, "Development of ROCOS (robot control simulator)-jump of human-type biped robot by the adaptive impedance control," in Proc. 6th Int. Workshop Adv. Motion Control Apr. 2000, pp. 606-611.
19. N. Shiraishi, Y. Kawaida, Y. Kitamura, S. Nakaura, and M. Sampei, "Vertical jumping control of an Acrobat Robot with consideration of input timing," in Proc. 41st SICE Annu. Conf., Aug. 5-7, 2002, vol. 4, pp. 2531-2536.
20. T. Mita, S. H. Hyon, and T. K. Nam, "Analytical time optimal control solution for a two-link planar aerobot with initial angular momentum," IEEE Trans. Robot. Autom., vol. 17, no. 3, pp. 361-366, Jun. 2001.
21. M. Sobotka and M. Buss, "Locomotion studies for a 5DoF gymnastic robot," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Aug. 2005, pp. 3275-3280.
22. K. Mirza, M. D. Hanes, and D. E. Orin, "Dynamic simulation of enveloping power grasps," in Proc. IEEE Int. Conf. Robot. Autom., May 2-6, 1993, vol. 2, pp. 430-435.
23. S. H. Hyon, N. Yokoyama, and T. Emura, "Back handspring of a multilink gymnastic robot - Reference model approach," Adv. Robot., vol. 20, no. 1, pp. 93-113, 2006.
24. M. Yamakita, M. Kishikawa, and T. Sadahiro, "Motion control for robust landing of acrobat robot," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2003, pp. 1141-1146.
25. Y. Hurmuzlu and D. B. Marghitu, "Rigid body collisions of planar kinematic chains with multiple contact points," Int. J. Robot. Res. vol. 13, no. 1, pp. 82-92, 1994.
26. M. W. Spong and M. Vidyasagar, Robot Dynamic and Control. New York: Wiley, 1989.
27. J. J. Craig, Introduction to Robotics: Mechanics and Control, 2nd ed. Boston, MA: Addison-Wesley/Longman, 1989.
28. H. K. Khalil, Nonlinear Systems, 2nd ed. Englewood Cliffs, NJ: Prentice-Hall, 1996.
29. T. F. Coleman and Y. Li, "An interior trust region approach for nonlinear minimization subject to bounds," SIAM J. Optim., vol. 6, pp. 418-445, 1996.
30. A. Meghdari and M. Aryanpour, "Dynamic modeling and analysis of the human jumping process," J. Intell. Robot. Syst., vol. 37, pp. 97-115, 2003.
31. M. S. Branicky, "Multiple Lyapunov functions and other analysis tools for switched and hybrid systems," IEEE Trans. Autom. Control, vol. 43, no. 4, pp. 475-482, Apr. 1998.
32. B. Morris and J. W. Grizzle, "A restricted Poincaré map for determining exponentially stable periodic orbits in systems with impulse effects: Application to bipedal robots," in Proc. 44th IEEE Conf. Decis. Control, Eur. Control Conf., Dec. 2005, pp. 4199-4206.
33. K. W. Sok, M. Kim, and J. Lee, "Simulating biped behaviors from human motion data," ACM Trans. Graph., vol. 26, no. 3, article 107, 2007.
34. E. R Westervelt, J. W. Grizzle, C. Chevallereau, J. Choi, and B. Morris, Feedback Control of Dynamic Bipedal Robot Locomotion. Boca Raton, FL: CRC, 2007.