Reduction-based control of branched chains: Application to three-dimensional bipedal torso robots

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2009, Pages 8166-8173

  Gregg, Robert D ^a   Spong, Mark W ^b  

^a University of Illinois at Urbana Champaign   (United States)

^b The University of Texas at Dallas   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

FORESTRY; KINEMATICS; TREES (MATHEMATICS);

CONTROL OF MECHANICAL SYSTEMS; CONTROLLED REDUCTION; GEOMETRIC PROPERTIES; KINEMATIC CHAIN; LOWER-DIMENSIONAL PROBLEMS; SAGITTAL PLANE; TREE STRUCTURES; TURNING GAITS;

ROBOTS;

EID: 77950850838     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2009.5399591     Document Type: Conference Paper

References (22)

1. D. Agahi and K. Kreutz-Delgado, "A star-topology dynamic model for multipedal locomotion," in Conference on Decision and Control, San Diego, CA, 1997.
2. A. D. Ames and R. D. Gregg, "Stably extending two-dimensional bipedal walking to three dimensions," in American Control Conference, New York, NY, 2007.
3. A. D. Ames, R. D. Gregg, and M. W. Spong, "A geometric approach to three-dimensional hipped bipedal robotic walking," in Conference on Decision and Control, New Orleans, LA, 2007.
4. C. Chevallereau, J. W. Grizzle, and C. Shih, "Asymptotically stable walking of a five-link underactuated 3D bipedal robot," IEEE Transactions on Robotics, vol.25, no.1, pp. 37-50, 2008.
5. S. H. Collins, M. Wisse, and A. Ruina, "A 3-D passive dynamic walking robot with two legs and knees," Int. J. of Robotics Res., vol.20, pp. 607-615, 2001.
6. G. Courtine and M. Schieppati, "Human walking along a curved path. I. body trajectory, segment orientation and the effect of vision," European Journal of Neuroscience, vol.18, no.1, pp. 177-190, 2003.
7. A. Goswami, B. Thuilot, and B. Espiau, "Compass-like biped robot part I: Stability and bifurcation of passive gaits," Institut National de Recherche en Informatique et en Automatique, Tech. Rep. 2996, 1996.
8. R. D. Gregg, T. W. Bretl, and M. W. Spong, "Asymptotically stable gait primitives for planning dynamic bipedal locomotion in three dimensions," in International Conference on Robotics and Automation, Anchorage, AK, 2010, submitted.
9. R. D. Gregg and M. W. Spong, "Bringing the compass-gait bipedal walker to three dimensions," in International Conference on Intelligent Robots and Systems, St. Louis, MO, 2009, to appear.
10. -, "Reduction-based control of three-dimensional bipedal walking robots," Int. J. of Robotics Res., 2009, pre-print.
11. J. K. Holm, D. Lee, and M. W. Spong, "Time-scaling trajectories of passive-dynamic bipedal robots," in IEEE International Conference on Robotics and Automation, Roma, Italy, 2007.
12. A. D. Kuo, "Stabilization of lateral motion in passive dynamic walking," Int. J. of Robotics Res., vol.18, no.9, pp. 917-930, 1999.
13. J. E. Marsden and T. S. Ratiu, Introduction to Mechanics and Symmetry, 2nd ed. New York, NY: Springer, 2002.
14. T. McGeer, "Passive dynamic walking," Int. J. of Robotics Res., vol.9, no.2, pp. 62-82, 1990.
15. R. M. Murray, Z. Li, and S. S. Sastry, A Mathematical Introduction to Robotic Manipulation. CRC Press, 1994.
16. C. Shih, J. W. Grizzle, and C. Chevallereau, "Asymptotically stable walking and steering of a 3D bipedal robot with passive point feet," IEEE Transactions on Robotics, 2009, submitted.
17. R. Sinnet and A. D. Ames, "3D bipedal walking with knees and feet: A hybrid geometric approach," in Conference on Decision and Control, Shanghai, China, 2009, to appear.
18. M. W. Spong, "Passivity based control of the compass gait biped," in IFAC World Congress, Beijing, China, 1999.
19. -, "The passivity paradigm in bipedal locomotion," in International Conference on Climbing and Walking Robots, Madrid, Spain, 2004.
20. M. W. Spong and F. Bullo, "Controlled symmetries and passive walking," IEEE Transactions on Automatic Control, vol.50, no.7, pp. 1025-1031, 2005.
21. E. R. Westervelt, J. W. Grizzle, C. Chevallereau, J. H. Choi, and B. Morris, Feedback Control of Dynamic Bipedal Robot Locomotion. New York, New York: CRC Press, 2007.
22. J. Wittenburg, Dynamics of Multibody Systems, 2nd ed. New York, NY: Springer, 2007.