Motion control for robust landing of acrobat robot (SMB)

Yamakita, Masaki; Kishikawa, M.; Sadahiro, Teruyoshi

doi:10.1109/iros.2003.1248799

Cited by 8 publications

(2 citation statements)

References 9 publications

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“…Therefore, ZMP and FRI are not suitable for postural stability analysis when the foot is already rotated. Stability considerations with foot rotation for the activities like back-handspring, handstand, and somersault are reported in [23] and [24], which are confined to gait generation and control strategies. In the landing phase of jumping gaits, the biped postures may be either with foot rotation or with the foot being flat on the ground (modeled by foot compliance).…”

Section: Introductionmentioning

confidence: 99%

Planar Bipedal Jumping Gaits With Stable Landing

Goswami

Vadakkepat

2009

IEEE Trans. Robot.

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In this paper, landing stability of jumping gaits is studied for a four-link planar biped model. Rotation of the foot during the landing phase leads to underactuation due to the passive degree of freedom at the toe, which results in nontrivial zero dynamics (ZD). Compliance between the foot and ground is modeled as a spring-damper system. Rotation of the foot along with the compliance model introduces switching in the ZD. The stability conditions for the "switching ZD" and closed-loop dynamics (CLD) are established. "Critical potential index" and "critical kinetic index" are introduced as measures of the stability of the CLD of the biped during landing. Landing stability is achieved by utilizing the stability conditions. Stable jumping motion is experimentally realized on a biped robot.

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Section: Introductionmentioning

confidence: 99%

Planar Bipedal Jumping Gaits With Stable Landing

Goswami

Vadakkepat

2009

IEEE Trans. Robot.

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“…Specifically for the generation of acrobatic motion with a horizontal bar, Sadahiro realized taking off from the horizontal bar and somersault in the air [3], [4] and Kishikawa realized landing control on tip toe [5]. Though the landing control is realized using standing on tip toe, region of stabilized posture is not so large.…”

Section: Introductionmentioning

confidence: 99%

Falling avoidance control of acrobat robot by reinforcement learning

Kochiya

Yamakita

2007

SICE Annual Conference 2007

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In this study a landing control of an acrobat robot is considered and Q-learning method is applied for falling avoidance control. Since the dynamics of the system is changed according to contact conditions to the ground, the system is a typical variable constraint and hybrid system. The state space for the Q-learning consists of discrete mode variable and continuous states. It is shown by numerical simulations that taking a step motion is automatically generated and falling down is avoided properly.

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