Control method of biped locomotion giving asymptotic stability of trajectory

Katoh, Ryozo; Mori, Masao

doi:10.1016/0005-1098(84)90099-2

Cited by 126 publications

(12 citation statements)

References 7 publications

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“…This approach has been used successfully to generate movement of ®sh (Ekeberg 1993), bipeds (Taga 1995a,b), and multi-legged insects (Kimura et al 1993). In robotics, the oscillating unit has been modeled by a set of coupled van der Pol's equations to produce walking cycles for bipeds (Katoh and Mori 1984;Bay and Hemami 1987;Jalics et al 1997) and quadrupeds (Berkemeier 1995). The oscillating units, or central pattern generators (CPGs), might be thought of as an indispensable component for the existence of limit cycle behavior.…”

Section: Introductionmentioning

confidence: 99%

Passive bipedal walking with phasic muscle contraction

Linde¹

1999

Biological Cybernetics

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The existence of self-organizing walking patterns is often considered the result of a mechanical system interacting with the environment and a (neural) oscillating unit. The pattern generators might be thought of as an indispensable component for the existence of limit cycle behavior. This paper shows that this is not a necessity for the existence of a self-organizing bipedal walking pattern. Stable walking cycles emerge from a simple passive bipedal structure, with an energy source inevitably present to sustain the oscillation. In this work the energy source is chosen to be phasic muscle contraction. A two-dimensional model is composed of two legs and a hip mass, symbolizing the trunk. The stance leg stiffness is generated by two muscles. The hip stiffness is generated by four muscles. Muscle activation is caused by two reflex-like trigger signals, without feedback control. Human equivalent model parameters such as geometry and mass distribution were assumed. With return map analysis, the model is analyzed on periodic behavior. Stable walking cycles were found and could be manipulated during walking by varying the muscle or reflex parameters, forcing the oscillation to converge to a new attractor.

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Section: Introductionmentioning

confidence: 99%

Passive bipedal walking with phasic muscle contraction

Linde¹

1999

Biological Cybernetics

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“…It has been modelled as a system of neural oscillators, such as Ellias-Grossberg oscillator [15], Matsuoka oscillator [16], RIO [17], van der Pol oscillator [18]. These CPG models can not only generate robust, sustained oscillation that are necessary for many human body's movements, such as chewing, locomotion, heart beats, breathing, but also be modulated to induce gait transition or variations smoothly [19].…”

Section: Introductionmentioning

confidence: 99%

Generation of rhythmic and voluntary patterns of mastication using Matsuoka oscillator for a humanoid chewing robot

Fang

Bronlund

et al. 2009

Mechatronics

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“…f (ζ) = 1 from Eq. (8) and this controller also coincides with the best COM-ZMP regulator in the same way as the longitudinal direction.…”

Section: Introductionmentioning

confidence: 57%

Sideward locomotion control of biped robots based on dynamics morphing

Atsuta

Sugihara

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper presents a biped locomotion control to step sideways based on the framework of the dynamics morphing. Since the proposed controller does not require detailed referential motion trajectories, it enables a robot to walk sideways at arbitrary velocity given at random timing. Sideward locomotion is realized by alternating the velocity following control and the self-excited oscillating control accompanying with the exchange of the supporting foot. Techniques to automatically update the referential position of the center of mass and phase for the consistent footstep are also proposed.

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Control method of biped locomotion giving asymptotic stability of trajectory

Cited by 126 publications

References 7 publications

Passive bipedal walking with phasic muscle contraction

Passive bipedal walking with phasic muscle contraction

Generation of rhythmic and voluntary patterns of mastication using Matsuoka oscillator for a humanoid chewing robot

Sideward locomotion control of biped robots based on dynamics morphing

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