Derivation of optimal walking motions for a bipedal walking robot

Robotica

Volumn 10, Issue 2, 1992, Pages 165-172

  Hopkins, S H ^b   Pham, D T ^b  

^a CARDIFF UNIVERSITY   (United Kingdom)

^b Electronic and Systems Engineering ^*  (United Kingdom)

Author keywords

Bipedal robot; Dynamic model; Gait optimisation; motion; Optimal

Indexed keywords

EID: 84974191558     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S026357470000758X     Document Type: Article

References (9)

1. V.V. Beletskii and P.S. Chudinov, “Parametric Optimisation in the Problem of Biped Locomotion” Mechanics of Solids 12
2. Mechanics of Solids 12 1 1977 25 35
3. R.A. Velershtein and A.M. Formalskii, “Movement of an Anthropomorphic Mechanism With Feet Under Impulsive Actions, Single Support Phase I” Mechanics of Solids 14, No 5, 24–33 (1979).
4. R.A. Velershtein and A.M. Formalskii, “Movement of an Anthropomorphic Mechanism With Feet Under Impulsive Actions, Double Support Phase II” Mechanics of Solids 15, No 1, 41–47 (1980).
5. V.V. Beletskii, V.E. Berbyuk and V.A. Samsonov, “Parametric Optimisation of Motions of a Bipedal Walking Robot” Mechanics of Solids 17, No 1, 28–40 (1982).
6. S.V. Rutkovskii, “Walking, Skipping and Running of a Bipedal Robot With Allowance For Impact” Mechanics of Solids 20, No 5, 46–51 (1985).
7. P.H. Channon, S.H. Hopkins and D.T. Pham, “Simulation and Optimisation of Gait for a Bipedal Robot” Mathl Comput. Modelling 14, 463–467 (1990).
8. P.H. Channon, “Modelling and Control of a Bipedal Walking Robot” PhD Thesis (University of Wales, 1990).
9. T. McGeer, “Powered Flight, Child's Play, Silly Wheels and Walking Machines” IEEE International Conference on Robotics and Automation, Scottsdale, USA 3, 1592–1597 (1989).