Adaptive virtual model control of a bipedal walking robot

Proceedings - IEEE International Joint Symposia on Intelligence and Systems

Volumn , Issue , 1998, Pages 245-251

  Hu, Jianjuen ^a   Pratt, J ^a   Chew, Chee Meng ^a   Herr, H ^a   Pratt, G ^a  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

adaptive control; legged locomotion; virtual model control

Indexed keywords

EID: 84860756157     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IJSIS.1998.685453     Document Type: Conference Paper

References (17)

1. Marc Raibert, Legged Robots That Balance. Cambridge, Mass.: MIT Press, 1986.
2. C.L. Golliday & H. Hemami, An Approach to Analyzing Biped Locomotion Dynamics and Designing Robot Locomotion Control, IEEE Trans. on Automatic Control, AC-22-6, 1977.
3. M. Vukobratovic, B. Borovac, D. Surla and D. Stokic, Biped Locomotion: Dynamics, Stability, Control and Application, Berlin-Heidelberg, Germany: Springer-Verlag, 1990.
4. Jerry Pratt, Ann Torres, Peter Dilworth, Gill Pratt, Virtual Actuator Control, IEEE International Conference on Intelligent Robots and Systems, Osaka, Japan, November, 1996.
5. N. Ozawa, Locomotion Control System for Mobile Robot, United States Patent #5, 402, 050, Honda Motor Company, 1995.
6. Jerry Pratt, Peter Dilworth, Gill Pratt, Virtual Model Control of a Bipedal Walking Robot, IEEE International Conference on Robotics and Automation, Albuquerque, NM, April, 1997.
7. Hirofumi Miura and Isao Shimoyama, Dynamic Walk of a Biped, International Journal of Robotics Research, Vol.3, no.2, Summer 1984.
8. Eric Dunn and Robert Howe, Foot Placement and Velocity Control in Smooth Bipedal Walking, IEEE International Conference on Robotics and Automation, Minneapolis, April 1996.
9. J.J. Slotine & W.P. Li, Applied Nonlinear Control, Printice-Hall, 1991.
10. F. Miyazaki & S. Arimoto, A Control Theoretic Study on Dynamical Biped Locomotion, ASME Journal of Dynamic Systems, Measurement, Control, Vol. 102, 1980.
11. J. Furusho & M. Masubuchi, A Theoretically Motivated Reduced Order Model for the Control of Dynamic Biped Locomotion, ASME Journal of Dynamic Systems, Measurement, Control, Vol. 109, 1987.
12. S. Kajita & K. Tani, Experimental Study of Biped Dynamic Walking in the Linear Inverted Pendulum Mode, IEEE International Conference on Robotics and Automation, 1995.
13. W.T. Miller, Real Time Neural Network Control of a Biped Walking Robot, IEEE Control Systems Magazine, Feb., 1994.
14. T.McGeer, Passive Dynamic Walking, International Journal of Robotics Research, Vol. 9, no.2, April 1990.
15. S. Murakami, E. Yamamoto and K. Fujimoto, Fuzzy Control of Dynamic Biped Walking Robot, IEEE International Conference on Fuzzy Systems, 1995.
16. Chee-Meng Chew, Blind Walking of a Planar Biped on Sloped Terrain, Master Thesis of Mechanical Engineering Department, MIT, January, 1998.
17. Jerry Pratt, Gill Pratt, Intuitive Control of a Planar Bipedal Walking Robot, IEEE International Conference on Robotics and Automation, Belgium, 1998.