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Parametric excitation based bipedal walking: Control method and optimization
1. | Division of Mechanical Systems and Applied Mechanics, Faculty of Engineering, Hiroshima University, Japan |
2. | Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Japan, Japan |
References:
[1] |
F. Asano and Z. W. Luo, Parametrically excited dynamic bipedal walking based on up-and-down hip motion, (Japanese), 6th SICE System Integration Division Annual Conference, (2005), 907-908. |
[2] |
F. Asano and Z. W. Luo, Energy-efficient and high-speed dynamic biped locomotion based on principle of parametric excitation, IEEE Transactions on Robotics, 24 (2008), 1289-1301.
doi: 10.1109/TRO.2008.2006234. |
[3] |
F. Asano, Z. W. Luo and S. Hyon, Parametric excitation mechanisms for dynamic bipedal walking, Proceedings of the IEEE International Conference on Robotics and Automation, (2005), 611-617.
doi: 10.1109/ROBOT.2005.1570185. |
[4] |
F. Asano, M. Yamakita and K. Furuta, Virtual passive dynamic walking and energy-based control Laws, Proceedings of the IEEE/RSJ International Conference on Intelligent Robotics and Systems, (2000), 1149-1154. |
[5] |
C. Chevallereau and Y. Aoustin, Optimal reference trajectories for walking and running of a biped robot, Robotica, 19 (2001), 557-569.
doi: 10.1017/S0263574701003307. |
[6] |
G. Gabrielli and Th. von Karman, What price speed? Specific power required for propulsion of vehicles, Mechanical Engineering, 72 (1950), 775-781. |
[7] |
A. Goswami, B. Espiau and A. Keramane, Limit cycles in a passive compass gait biped and passivity-mimicking control laws, Journal of Autonomous Robots, 4 (1997), 273-286.
doi: 10.1023/A:1008844026298. |
[8] |
J. W. Grizzle, G. Abba and F. Plestan, Asymptotically stable walking for biped robots: analysis via systems with impulse effects, IEEE Transaction on Automatic Control, 46 (2001), 51-64.
doi: 10.1109/9.898695. |
[9] |
Y. Harata, F. Asano, K. Taji and Y. Uno, Parametric excitation based gait generation for ornithoid walking, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, (2008), 2940-2945. |
[10] |
Y. Harata, F. Asano, K. Taji and Y. Uno, Ornithoid gait generation based on parametric excitation, (Japanese), Journal of Robotics Society of Japan, 27 (2009), 575-582. |
[11] |
Y. Harata, F. Asano, K. Taji and Y. Uno, Parametric excitation walking for four-linked bipedal robot, Preprint of the 9th IFAC Symposium on Robot Control, (2009), 589-594. |
[12] |
Y. Harata, F. Asano, Z. W. Luo, K. Taji and Y. Uno, Biped gait generation based on parametric excitation by knee-joint actuation, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, (2007), 2198-2203. |
[13] |
Y. Harata, F. Asano, Z. W. Luo, K. Taji and Y. Uno, Biped gait generation based on parametric excitation by knee-joint actuation, Robotica, 27 (2009), 1063-1073.
doi: 10.1017/S0263574709005487. |
[14] |
T. McGeer, Passive dynamic walking, International Journal of Robotics Research, 9 (1990), 62-82.
doi: 10.1177/027836499000900206. |
[15] |
K. Taji, Y. Banno and Y. Harata, An optimizing method for a reference trajectory of parametric excitation walking, Robotica.
doi: 10.1017/S0263574710000342. |
show all references
References:
[1] |
F. Asano and Z. W. Luo, Parametrically excited dynamic bipedal walking based on up-and-down hip motion, (Japanese), 6th SICE System Integration Division Annual Conference, (2005), 907-908. |
[2] |
F. Asano and Z. W. Luo, Energy-efficient and high-speed dynamic biped locomotion based on principle of parametric excitation, IEEE Transactions on Robotics, 24 (2008), 1289-1301.
doi: 10.1109/TRO.2008.2006234. |
[3] |
F. Asano, Z. W. Luo and S. Hyon, Parametric excitation mechanisms for dynamic bipedal walking, Proceedings of the IEEE International Conference on Robotics and Automation, (2005), 611-617.
doi: 10.1109/ROBOT.2005.1570185. |
[4] |
F. Asano, M. Yamakita and K. Furuta, Virtual passive dynamic walking and energy-based control Laws, Proceedings of the IEEE/RSJ International Conference on Intelligent Robotics and Systems, (2000), 1149-1154. |
[5] |
C. Chevallereau and Y. Aoustin, Optimal reference trajectories for walking and running of a biped robot, Robotica, 19 (2001), 557-569.
doi: 10.1017/S0263574701003307. |
[6] |
G. Gabrielli and Th. von Karman, What price speed? Specific power required for propulsion of vehicles, Mechanical Engineering, 72 (1950), 775-781. |
[7] |
A. Goswami, B. Espiau and A. Keramane, Limit cycles in a passive compass gait biped and passivity-mimicking control laws, Journal of Autonomous Robots, 4 (1997), 273-286.
doi: 10.1023/A:1008844026298. |
[8] |
J. W. Grizzle, G. Abba and F. Plestan, Asymptotically stable walking for biped robots: analysis via systems with impulse effects, IEEE Transaction on Automatic Control, 46 (2001), 51-64.
doi: 10.1109/9.898695. |
[9] |
Y. Harata, F. Asano, K. Taji and Y. Uno, Parametric excitation based gait generation for ornithoid walking, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, (2008), 2940-2945. |
[10] |
Y. Harata, F. Asano, K. Taji and Y. Uno, Ornithoid gait generation based on parametric excitation, (Japanese), Journal of Robotics Society of Japan, 27 (2009), 575-582. |
[11] |
Y. Harata, F. Asano, K. Taji and Y. Uno, Parametric excitation walking for four-linked bipedal robot, Preprint of the 9th IFAC Symposium on Robot Control, (2009), 589-594. |
[12] |
Y. Harata, F. Asano, Z. W. Luo, K. Taji and Y. Uno, Biped gait generation based on parametric excitation by knee-joint actuation, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, (2007), 2198-2203. |
[13] |
Y. Harata, F. Asano, Z. W. Luo, K. Taji and Y. Uno, Biped gait generation based on parametric excitation by knee-joint actuation, Robotica, 27 (2009), 1063-1073.
doi: 10.1017/S0263574709005487. |
[14] |
T. McGeer, Passive dynamic walking, International Journal of Robotics Research, 9 (1990), 62-82.
doi: 10.1177/027836499000900206. |
[15] |
K. Taji, Y. Banno and Y. Harata, An optimizing method for a reference trajectory of parametric excitation walking, Robotica.
doi: 10.1017/S0263574710000342. |
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