SPEJBL - The biped walking robot

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 7, Issue PART 1, 2007, Pages 63-70

  Peca, Marek ^a   Sojka, Michal ^a   Hanzálek, Zdeněk ^a  

^a CZECH TECHNICAL UNIVERSITY IN PRAGUE   (Czech Republic)

Author keywords

Biped robot; Cascaded controller; Feedback control; Inverse kinematics; Static gait

Indexed keywords

EMBEDDED SYSTEMS; FEEDBACK CONTROL; INVERSE KINEMATICS; MACHINE DESIGN; MOBILE ROBOTS; TRAJECTORIES;

BIPED ROBOT; BIPED WALKING ROBOTS; CASCADED CONTROLS; DOUBLE SUPPORT PHASE; JOINT COORDINATES; PROPORTIONAL CONTROLLER; SERVO MOTOR CONTROL; STATIC GAITS;

CONTROLLERS;

EID: 77957570301     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20071107-3-fr-3907.00010     Document Type: Conference Paper

References (8)

1. Albero, M., F. Blanes, G. Benet, P. Perez, J. E. Simo and J. Coronel (2005). Distributed real time architecture for small biped robot YaBiRO. In: IEEE Intl. Symposium on Computational Intelligence in Robotics and Automation.
2. Boston Dynamics, Inc. (n.d.). The "BigDog"robot, http://www.bdi.com/content/sec.php?section=bigdog.
3. Chevallereau, C., E. R.Westervelt and J.W. Grizzle (2004). Asymptotic stabilization of a fivelink, four-actuator, planar bipedal runner. In: 43th IEEE Conference on Decision and Control. Paradise Island, Bahamas.
4. Choset, H., K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki and S. Thrun (2005). Principles of robot motion: theory, algorithms, and implementation. MIT Press. London, England.
5. Píša, P. and F. Vacek (2003). Open source components for the CAN bus. In: Proceedings of the 5th Real-Time Linux Workshop. Valencia, Spain.
6. Ridderström, C., J. Ingvast, F. Hardarson, M. Gudmundsson, M. Hellgren, J. Wikander, T.Wadden and H. Rehbinder (2000). The basic design on the quadruped robot Warp1. In: Intl. Conference on Climbing and Walking Robots. Madrid, Spain.
7. Slotine, Jean-Jacques E. and H. Asada (1992). Robot Analysis and Control. John Wiley & Sons. New York, USA.
8. Yamasaki, F., T. Miyashita, T. Matsui and H. Kitano (2000). Pino the humanoid: A basic architecture. In: 4th Intl. Workshop on RoboCup. Melbourne, Australia.