Synthetic wheel prismatic joint biped with torso

Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009

Volumn , Issue PART B, 2010, Pages 1659-1666

  Flynn, Louis L ^a   Jafari, Rouhollah ^a   Mukherjee, Ranjan ^a  

^a Michigan State University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

EQUATIONS OF MOTION; ROBOTS; WHEELS;

BIPED ROBOT; CLOSED LOOPS; FORWARD-AND-BACKWARD; FREE MOTION; LAGRANGE'S EQUATION; PRISMATIC JOINT; WALKING GAIT;

MACHINE DESIGN;

EID: 77953742886     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DSCC2009-2582     Document Type: Conference Paper

References (28)

1. Sakagami, Y., Watanabe, R., Aoyama, C., Matsunaga, S., Higaki, N., and Fujimura, K., 2002. "The intelligent asimo: system overview and integration". Intelligent Robots and System, 2002. IEEE/RSJ International Conference on, 3, pp. 2478-2483 vol.3.
2. Hirose, M., and Ogawa, K., 2007. "Honda humanoid robots development". Philosophical Transactions Of The Royal Society A-Mathematical Physical And Engineering Sciences, 365(1850), JAN 15, pp. 11-19.
3. Vukobratovic, M., and Juricic, D., 1969. "Contribution to synthesis of biped gait". Ieee Transactions On Biomedical Engineering, BM16(1), pp. 1-6.
4. Yamaguchi, J., and Takanishi, A., 1997. "Development of a leg part of a humanoid robot - Development of a biped walking robot adapting to the humans' normal living floor". Autonomous Robots, 4(4), pp. 369-385. (Pubitemid 127508783)
5. Sardain, P., Rostami, H., and Bessonnet, G., 1998. "An anthropomorphic biped robot: Dynamic concepts and technological design". Ieee Transactions On Systems Man And Cybernetics Part A-Systems And Humans, 28(6), NOV, pp. 823-838.
6. Goswami, A., 1999. "Postural stability of biped robots and the foot-rotation indicator (FRI) point". International Journal of Robotics Research, 18(6), JUN, pp. 523-533.
7. Hirukawa, H., Kanehiro, E, Kaneko, K., Kajita, S., Fujiwara, K., Kawai, Y., Tomita, F., Hirai, S., Tanie, K., Isozumi, T., Akachi, K., Kawasaki, T., Ota, S., Yokoyama, K., Handa, H., Fukase, Y., Maeda, J., Nakamura, Y., Tachi, S., and Inoue, H., 2004. "Humanoid robotics platforms developed in hrp". Robotics and Autonomous Systems, 48, October, pp. 165-175.
8. Sardain, P., and Bessonnet, G., 2004. "Forces acting on a biped robot. Center of pressure-zero moment point". Ieee Transactions On Systems Man And Cybernetics Part A-Systems And Humans, 34(5), SEP, pp. 630-637.
9. Vukobratovic, M., Borovac, B., and Potkonjak, V., 2006. "ZMP: A review of some basic misunderstandings". International Journal Of Humanoid Robotics, 3(2), JUN, pp. 153-175.
10. Nishino, D., Yamaguchi, J., and Takanishi, A., 1998. "Realization of dynamic biped walking varying joint stiffness using antagonistic driven joints". IEEE International Conference on Robotics and Automation, pp. 2022-2029.
11. Vanderborght, B., 2007. "Dynamic stabilisation of the biped lucy powered by actuators with controllable stiffness". PhD thesis, Vrije Universiteit Brussel.
12. Raibert, M., Chepponis, M., and Brown, H., 1986. "Running on 4 legs as though they were one". Ieee Journal Of Robotics And Automation, 2(2), JUN, pp. 70-82.
13. Pratt, J., 1995. "Virtual model control of a biped walking robot". Master's thesis, MIT.
14. Pratt, J., Chew, C., Torres, A., Dilworth, P., and Pratt, G., 2001. "Virtual model control: An intuitive approach for bipedal locomotion". International Journal Of Robotics Research, 20(2), FEB, pp. 129-143.
15. Geng, T., Porr, B., and Worgotter, F., 2006. "Fast biped walking with a sensor-driven neuronal controller and real-time online learning". International Journal of Robotics Research, 25(3), MAR, pp. 243-259.
16. Tedrake, R., Zhang, T., and Sebastian, H., 2005. "Learning to walk in 20 minutes". In In Proceedings of the Fourteenth Yale Workshop on Adaptive and Learning Systems.
17. Chevallereau, C., Abba, G., Aoustin, Y., Plestan, F., Westervelt, E., Canudas-de Wit, C., and Grizzle, J., 2003. "Rabbit: A testbed for advanced control theory". IEEE Control Systems Magazine, 23, pp. 57-79.
18. Westervelt, E., Grizzle, J., and Koditschek, D., 2003. "Hybrid zero dynamics of planar biped walkers". IEEE Trans. on Automatic Control, 48, pp. 42-56.
19. McGeer, T., 1990. "Passive dynamic walking". International Journal Of Robotics Research, 9(2), APR, pp. 62-82.
20. Hobbelen, D. G. E., and Wisse, M., 2007. "A disturbance rejection measure for limit cycle walkers: The Gait Sensitivity Norm". IEEE Transactions On Robotics, 23(6), DEC, pp. 1213-1224.
21. Wisse, M., 2004. "Essentials of dynamic walking: Analysis and design of two-legged robots". PhD thesis, TU Delft.
22. Collins, S., and Ruina, A., 2005. "A bipedal walking robot with efficient and human-like gait". Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA, April, pp. 1983-1988.
23. Wisse, M., and Van Frankenhuyzen, J., 2006. "Design and construction of mike; a 2d autonomous biped based on passive dynamic walking". Adaptive Motion of Animals and Machines, 4, pp. 143-154.
24. Wisse, M., Feliksdal, G., Van Frankenhuyzen, J., and Moyer, B., 2007. "Passive-based walking robot - Denise, a simple, efficient, and lightweight biped". IEEE Robotics & Automation Magazine, 14(2), JUN, pp. 52-62.
25. Hobbelen, D. G. E., 2008. "Limit cycle walking". PhD thesis, TU Delft.
26. Wisse, M., Hobbelen, D. G. E., and Schwab, A. L., 2007. "Adding an upper body to passive dynamic walking robots by means of a bisecting hip mechanism". IEEE TRANSACTIONS ON ROBOTICS, 23(1), FEB, pp. 112-123. (Pubitemid 46443346)
27. Das, T., and Mukherjee, R., 2001. "Dynamic analysis of rectilinear motion of a self-propelling disk with unbalance masses". Transactions of the ASME Journal of Applied Mechanics, 68(1), JAN, pp. 58-66.
28. Collins, S., Wisse, M., and Ruina, A., 2001. "A three-dimensional passive-dynamic walking robot with two legs and knees". INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 20(7), JUL, pp. 607-615. (Pubitemid 34566118)