A unified control frame for stable bipedal walking

IECON Proceedings (Industrial Electronics Conference)

Volumn , Issue , 2009, Pages 4167-4172

  Ugurlu, Barkan ^a   Hirabayashi, Takahiro ^a   Kawamura, Atsuo ^a  

^a YOKOHAMA NATIONAL UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

BIPEDAL WALKING; BODY MOTIONS; CONTROL FRAMES; DYNAMIC BALANCE; INVERSE KINEMATICS SOLUTIONS; MASS MODELS; ORIENTATION CONTROL; ORIENTATION ERROR; TRAJECTORY GENERATION; TRAJECTORY GENERATION METHOD; UNIFIED CONTROL; YAW MOMENT;

INVERSE KINEMATICS; POWER CONVERTERS;

INDUSTRIAL ELECTRONICS;

EID: 77951592999     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IECON.2009.5415081     Document Type: Conference Paper

References (15)

1. Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki, and K. Fujimura, "The intelligent asimo: System overview and integration," in Proc. IEEE Conf. Intl. Rob. and Sys., Switzerland, 2002, pp. 2478-2483. (Pubitemid 35438181)
2. L. Sentis, and O. Khatib, "A whole-body control framework for humanoids in human environments," in Proc. IEEE Conf. Robotics and Automation, Orlando, US, 2006, pp. 2641-2648.
3. J. Ueda, K. Shirae, Y. Matsumoto, S. Oda, and T. Ogasawara "Momentum compensation for fast dynamic walking of humanoids based on pelvic rotation of contact sport athletes," in Proc. IEEE Conf. on Humanoids, CA, US, 2004, pp. 592-607.
4. S. Hyon, "Compliant terrain adaptation for biped humanoids without measuring ground surface and contact forces," in J. IEEE Trans. on Robotics, vol.25, no.1, 2009.
5. S. Kajita, F. Kanehiro, K. Kaneko, K. Yokoi and K. Tanie "Resolved momentum control: Humanoid motion planning based on the linear and angular momenta," in Proc. IEEE Conf. Intelligent Robots and Systems, Las Vegas, NV, USA, 2003, pp. 1644-1650.
6. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa, "Biped walking pattern generation by using preview control," in Proc.IEEE Conf. Rob. and Autom., US, 2006, pp. 2641-2648.
7. N. Motoi, T. Suzuki, and K. Ohnishi, "A bipedal locomotion planning based on virtual linear inverted pendulum mode," in J. IEEE Trans. on Industrial Electronics, vol.56, no.1, 2009.
8. S. Kagami, T. Kitagawa, K. Nishiwaki, T. Sugihara, M. Inaba, and H. Inoue "A fast dynamically equiilibrated walking trajectory generation method of humanoid robot," in Autonomous Robots, Kluwer Academic Publishers, vol.2, issue 1, 2002, pp. 71-82.
9. S. Kajita, N. Nagasaki, K. Kaneko, K. Yokoi, and K. Tanie, "A running controller of humanoid biped HRP-2LR," in Proc. IEEE Conf. Robotics and Automation, Barcelona, Spain, 2005, pp. 618-624.
10. Y. Fujimoto, and A. Kawamura "Simulation of an autonomous biped walking robot including environmental force interaction," in IEEE Robotics and Automation Magazine, vol.5, no.2, pp. 33-42, 1998.
11. A. Kawamura, and C. Zhu "The development of biped robot MARI-3 for fast walking and running," in Proc. IEEE Conf. Intelligent Systems and Robots, Beijing, China, 2006, pp. 599-604.
12. T. Hirabayashi, B. Ugurlu, and A. Kawamura, "Yaw moment compensation of biped fast walking using 3D inverted pendulum," in Proc. IEEE Conf Advanced Motion Control, Trento, Italy, 2008, pp. 296-300.
13. B. Ugurlu, and A. Kawamura, "Eulerian ZMP Resolution: Real-time Jogging and Jumping Trajectory Planning for Bipedal Robots," in Proc. IEEE Conf Advanced Intelligent Mechatronics, 2009, pp. 150-155.
14. T. Suga and A. Kawamura, "Estimating ZMP and GRF by means of accelerator instead of force sensor", Japan Institute of Electrical Engineering, Nationwide Conference, Hokkaido, Japan, 2009. (in Japanese)
15. J. C. Strikwerda Finite Difference Schemes and Partial Differential Equations, Wadsworth&Brooks/Cole Adv. B. & Soft. pp. 74-80, 1989.