Further studies of human locomotion: Postural stability and control

Chow, CC; Jacobson, D. H.

doi:10.1016/0025-5564(72)90065-x

Cited by 47 publications

(3 citation statements)

References 5 publications

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“…Figure 3 illustrates geometric relationships between COM, ZMP and CMP, which is naturally associated with an inverted pendulum. Actually, the resemblance of dynamics between a walking mechanism and an inverted pendulum was focused on by many researchers [32,[51][52][53][54][55][56][57][58][59][60] since the early stage of the field of biped robots based on an intuition that a heavy upper body is carried by alternating light support legs with narrow footprints. In those studies, ZMP was supposed to be constraint at a point foot as a pivot, and a step meant discontinuous relocation of ZMP.…”

Section: Com-zmp Modelmentioning

confidence: 99%

A survey: dynamics of humanoid robots

Sugihara

Morisawa

2020

Advanced Robotics

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The mathematical foundation to describe the dynamics of a humanoid mechanism is reviewed. The discussion begins with the kinematics of an anthropomorphic mechanism, followed by the equation of motion of the system and the contact mechanics that accompanies with the motions. Some compact representations of both the robot dynamics and the contact mechanics are summarized. The former is referred to as the centroidal dynamics derived from the total momenta of the system, while the latter includes the contact wrench sum and the zero-moment point. They are naturally joined as a reduced-order dynamics model derived from an approximate relationship between the center of mass and the zero-moment point. Finally, some techniques to synthesize the intended motion into the joint actuation torques under limitations of contact forces are shown. This is basically a translation of a Japanese version with some modifications and reorganizations.

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Section: Com-zmp Modelmentioning

confidence: 99%

A survey: dynamics of humanoid robots

Sugihara

Morisawa

2020

Advanced Robotics

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“…Так, у працях Chow C.K. i Jackobson D.H. [9,2] забезпечення рiвноваги АКА здiйснюється шляхом застосування другої теореми Ляпунова. При цьому апарат розглядається як механiчна система маятникового типу, визначена у двох площинах.…”

Section: вступunclassified

“…Для випадку двоопорної фази руху, (коли f l + fr = 3) граничнi, точки побудови прямих повиннi вiдповiдати умовам (9):…”

Section: узагальнена структура Iєрархiчної Lсу дотриманням рIвноваги акаunclassified

Система Управління Режимом Дотримання Рівноваги Антропоморфним Крокуючим Апаратом

Ткач¹

2014

«Адаптивні Системи Автоматичного Управління Міжвідомчий науково

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Анотацiя: У роботi запропоновано розв'язання задачi управлiння режимом дотримання рiвноваги антропоморфного крокуючого апарата на довiльнiй твердiй поверхнiй на основi застосування принципу вiдслiдковування перемiщення точки центру мас апарата та сили реакцiї опорної поверхнi. Ключовi слова: Антропоморфний крокуючий апарат, дотримання нестiйкої рiвноваги, iєрархiчна система управлiння, Hardware in the loop, отримальне правлiння рiвновагою.

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Model-Based Approaches to Understanding Musculoskeletal Filtering of Neural Signals

Burkholder

2015

Springer Series in Computational Neuroscience

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Further studies of human locomotion: Postural stability and control

Cited by 47 publications

References 5 publications

A survey: dynamics of humanoid robots

A survey: dynamics of humanoid robots

Система Управління Режимом Дотримання Рівноваги Антропоморфним Крокуючим Апаратом

Model-Based Approaches to Understanding Musculoskeletal Filtering of Neural Signals

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