Control Method of Biped Locomotion Giving Asymptotic Stability of Trajectory

Katoh, Ryozo; Mori, Masao

doi:10.1016/s1474-6670(17)63352-4

Cited by 16 publications

(20 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…The use of a central pattern generator or CPG to drive the legs through sensory feedback is found in (Katoh and Mori 1984;Lewis et al 1994;Kimura and Fukuoka 2000;Kuo 2002;Lewis 2002;Lewis and Bekey 2002;and Lewis et al 2005). Neural networks have also been used to control legged robots (Hu et al 1998;and Manoonpong 2007).…”

Section: Biologically-inspired Methodsmentioning

confidence: 99%

“…Trajectory-based methods appear more often in the literature, and various notable methods include: using reference trajectory prescriptions (Katoh 1984;Kajita and Tani 1996;Hirai et al 1998;Raibert et al 1993;Chevallereau et al 1997;Saranli et al 1998;Nakanishi et al 2000;, using ZMP dynamics models described by ordinary differential equations (Hurmuzlu and Marghitu 1994;Isidori 1995;Spong 1995;Berkemeier and Fearing 1999;Ito 2000;and Rosas-Flores 2000), using hybrid systems of differential equations to model the single support and swing phases and a discrete leg impact map that linearize the robot motion along a periodic orbit (Grizzle et al 2001;Plestan et al 2003;Westervelt et al 2004;and Poulakakis 2009), regulating total energy (Goswami et al 1996), using time-based ZMP trajectories (Hasegawa et al 2000) or system state-based (i.e., non-time based) methods (Ono et al 2000), and using virtual constraints (Fukuda et al 2006). Note that trajectory tracking and balance stabilization of motorcycles was accomplished using Lagrange's equations (Sharp 1971), and riderbased multi-body dynamics models have been demonstrated (Cossalter and Lot 2002;and Kessler 2004).…”

Section: Dynamic Stabilitymentioning

confidence: 99%

See 1 more Smart Citation

The Single-Track Three Legged Mobile Robot

Goulding

2012

Volume 4: 36th Mechanisms and Robotics Conference, Parts a and B

View full text Add to dashboard Cite

The Single-Track Three Legged Mobile Robot achieves the form and function of a motorcycle but with the added benefit of legs and partial or fully automatic stability of balance. The robot comprises a body and three articulated legs arranged one behind the other in a narrow profile to walk and maneuver along narrow trails and paths, by placing successive footfalls in a generally single-track or in-line fashion. It achieves stability of balance without motion by positioning the three legs in a tripod stance. It maintains (or regains) stability of balance during locomotion through controlled foot placement and repeating intervals of a bipedal or tripod stance. It executes a single-track turn by leaning the body into the turn, using gravitational forces to counteract the outward centripetal force. The proposed gait strategy keeps two legs on the ground at all times, simplifying balance control to the roll direction. The control system comprises feedback sensors, digital computer, and software for foot position planning. This paper presents the robot design, various three-legged gaits, control method and architecture, experimental results from a digital simulation, and a proof-of-concept prototype.

show abstract

Section: Biologically-inspired Methodsmentioning

confidence: 99%

Section: Dynamic Stabilitymentioning

confidence: 99%

The Single-Track Three Legged Mobile Robot

Goulding

2012

Volume 4: 36th Mechanisms and Robotics Conference, Parts a and B

View full text Add to dashboard Cite

show abstract

“…With a biological support that the central pattern generators (CPGs) [1] exist in the spinal cord, various nonlinear oscillators such as coupled van der Pol oscillator [2], Matsuoka oscillator [3] and Kuramoto oscillator [4] have been investigated to build autonomous biped robot controllers [5], [6], [7], [8], [9], [10], [11], [12], [13]. In those studies, the controller first makes an internal body oscillation and results repetitive collisions between the extremities and the environment.…”

Section: Introductionmentioning

confidence: 99%

Consistent biped step control with COM-ZMP oscillation based on successive phase estimation in dynamics morphing

Sugihara

2010

2010 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

A self-consistent autonomous foot stepping control is proposed. It works on a self-excited oscillator of COM (center of mass) developed by the author, in which the stabilizability is maximized through a nonlinear feedback to the ZMP (zeromoment point) manipulation. Different from the conventional artificial CPGs (central pattern generators), its dynamics seamlessly morphs from/to that of a standing controller and enables an easy tuning of controller parameters for the desired oscillation amplitude and period. Based on a novel motion index defined by a complex number, the phase and spatial information about the COM-ZMP movement is abstracted. By a successive estimation of the foot-liftable phase, the up-down of feet is controlled so that it automatically synchronizes to the COM-ZMP oscillation with the unilaterality constraint on the reaction forces explicitly taken into account.

show abstract

“…Other approaches are based on the definition, ahead of time, of the reference trajectories. For instance, in [5] the authors generate the trajectories via a van der Pol oscillator.…”

Section: Introductionmentioning

confidence: 99%

Control of a Planar Underactuated Biped on a Complete Walking Cycle

Chemori

Lorı́a

2004

IEEE Trans. Automat. Contr.

View full text Add to dashboard Cite

We address the problem of stabilizing a planar biped robot on a complete walking cycle. Our approach is based on singling out the three fundamental phases of motion of a biped : single and double-support, separated (sequentially) by an impact "instantaneous" phase. We propose control laws to drive the robot for a finite time during each phase, while ensuring certain robustness vis-a-vis the impacts which are treated as external perturbations. We also provide some simulation results.

show abstract

Control Method of Biped Locomotion Giving Asymptotic Stability of Trajectory

Cited by 16 publications

References 4 publications

The Single-Track Three Legged Mobile Robot

The Single-Track Three Legged Mobile Robot

Consistent biped step control with COM-ZMP oscillation based on successive phase estimation in dynamics morphing

Control of a Planar Underactuated Biped on a Complete Walking Cycle

Contact Info

Product

Resources

About