Bipedal walking with dynamic balance that involves three-dimensional upper body motion
Tài liệu tham khảo
McGeer, 1990, Passive dynamic walking, Int. J. Robot. Res., 9, 68, 10.1177/027836499000900206
Maus, 2010, Upright human gait did not provide a major mechanical challenge for our ancestors, Nature Commun., 1, 70, 10.1038/ncomms1073
A. Takanishi, M. Ishida, Y. Yamazaki, I. Kato, The realization of dynamic walking by the biped walking robot WL-10RD, in: Proceedings of ’85 International Conference on Advanced Robotics, 1985, pp. 459–466.
Kagami, 2002, A fast dynamically equilibrated walking trajectory generation method of humanoid robot, Auton. Robots, 12, 71, 10.1023/A:1013210909840
K. Nagasaka, H. Inoue, M. Inaba, Dynamic walking pattern generation for a humanoid robot based on optimal gradient method, in: Proceedings of the 1999 IEEE International Conference on Systems, Man, and Cybernetics, Vol. 6, October 1999, pp. 908–913.
H. Inada, K. Ishii, Behavior generation of bipedal robot using central pattern generator (CPG) (1st Report: CPG Parameters Searching Method by Genetic Algorithm), in: Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2003, pp. 2179–2184.
T. Komatsu, M. Usui, Dynamic walking and running of a bipedal robot using hybrid central pattern generator method, in: Proceedings of the 2005 IEEE International Conference on Mechatronics and Automation, Vol. 2, July 2005, pp. 987–992.
Q. Huang, S. Kajita, N. Koyachi, K. Kaneko, K. Yokoi, H. Arai, K. Komoriya, K. Tanie, A high stability, smooth walking pattern for a biped robot, in: Proceedings of the 1999 IEEE International Conference on Robotics and Automation, Vol. 1, May 1999, pp. 65–71.
S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, H. Hirukawa, Resolved momentum control: Humanoid motion planning based on the linear and angular momentum, in: Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, October 2003, pp. 1644–1650.
A. Takanishi, T. Takeya, H. Karaki, I. Kato, A control method for dynamic biped walking under unknown external force, in: Proceedings of the 1990 IEEE International Workshop on Intelligent Robots and Systems, Vol. 2, July 1990, pp. 795–801.
J. Yamaguchi, A. Takanishi, I. Kato, Development of a biped walking robot compensating for three-axis moment by trunk motion, in: Proceedings of the 1993 IEEE International Conference on Intelligent Robots and Systems, Vol. 1, July 1993, pp. 561–566.
J. Yamaguchi, E. Soga, S. Inoue, A. Takanishi, Development of a bipedal humanoid robot: Control method of whole body cooperative dynamic biped walking, in: Proceedings of the 1999 IEEE International Conference on Robotics and Automation, Vol. 1, May 1999, pp. 368–374.
E. Azimi, M. Ghobadi, E.T. Esfahani, M. Keshmiri, A.F. Tehrani, Three-dimensional smooth trajectory planning using realistic simulation, in: RoboCup 2004, Vol. 3276, 2005, pp. 381–393.
S. Kajita, O. Matsumoto, M. Saigo, Real-time 3D walking pattern generation for a biped robot with telescopic legs, in: Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Vol. 3, May 2001, pp. 2299–2306.
S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, H. Hirukawa, Biped walking pattern generation by using preview control of zero-moment point, in: Proceedings of the 2003 IEEE International Conference on Robotics and Automation, September 2003, pp. 1620–1626.
H.-o. Lim, Y. Kaneshima, A. Takanishi, Online walking pattern generation for biped humanoid robot with trunk, in: Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Vol. 3, May 2002, pp. 3111–3116.
K. Nishiwaki, T. Sugihara, S. Kagami, M. Inaba, H. Inoue, Online mixture and connection of basic motions for humanoid walking control by footprint specification, in: Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Vol. 4, May 2001, pp. 4110–4115.
K. Nishiwaki, S. Kagami, Y. Kuniyoshi, M. Inaba, H. Inoue, Online generation of humanoid walking motion based on a fast generation method of motion pattern that follows desired ZMP, in: Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, September 2002, pp. 2684–2689.
Nishiwaki, 2009, Online walking control system for humanoids with short cycle pattern generation, Int. J. Robot. Res., 28, 729, 10.1177/0278364908097883
T. Sugihara, Y. Nakamura, A fast online gait planning with boundary condition relaxation for humanoid robots, in: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, April 2005, pp. 305–310.
T. Sugihara, Y. Nakamura, H. Inoue, Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum control, in: Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Vol. 2, May 2002, pp. 1404–1409.
D. Dimitrov, P.-B. Wieber, H.J. Ferreau, M. Diehl, On the Implementation of Model Predictive Control for On-line Walking Pattern Generation, in: Proceedings of the 2008 IEEE International Conference on Robotics and Automation, May 2008, pp. 2685–2690.
K. Harada, S. Kajita, K. Kaneko, H. Hirukawa, An analytical method on real-time gait planning for a humanoid robot, in: Proceedings of the 2004 IEEE-RAS/RSJ International Conference on Robotics and Automation, April 2004, pp. 640–655.
T. Takenaka, T. Motsumoto, T. Yoshiike, Real time motion generation and control for biped robot—1st report: Walking gait pattern generation, in: Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October. 2009, St. Louis, MO, pp. 1084–1091.
Kim, 2006, Experimental realization of dynamic walking of biped humanoid robot KHR-2 using ZMP feedback and inertial measurement, J. Adv. Robot., 20, 707, 10.1163/156855306777361622
Choi, 2007, Posture/walking control for humanoid robot based on kinematic resolution of CoM jacobian with embedded motion, IEEE Trans. Robot., 23, 1285, 10.1109/TRO.2007.904907
Kajita, 2003, Biped walking pattern generation by a simple three-dimensional inverted pendulum model, J. Adv. Robot., 17, 131, 10.1163/156855303321165097
Löffler, 2004, Sensors and control concept of a biped robot, IEEE Trans. Ind. Electron., 51, 972, 10.1109/TIE.2004.834948
I.-W. Park, J.-Y. Kim, J. Lee, J.-H. Oh, Online free walking trajectory generation for biped humanoid robot KHR-3 (HUBO), in: Proceedings of the 2006 IEEE International Conference on Robotics and Automation, May 2006, pp. 1231–1236.
A. Sekiguchi, K. Kameta, Y. Tsumaki, D. Nenchev, Biped walk based on vertical pivot motion of linear inverted pendulum, in: Proceedings of the 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, September 2007, pp. 1–6.
Y. Ogura, H.-o. Lim, A. Takanishi, Stretch walking pattern generation for a biped humanoid robot, in: Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robot and Systems, October 2003, pp. 352–357.
Y. Ogura, T. Kataoka, K. Shimomura, H.-o. Lim, A. Takanishi, A novel method of biped walking pattern generation with predetermined knee joint motion, in: Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, September 2004, pp. 2831–2836.
M. Morisawa, S. Kajita, K. Kaneko, K. Harada, F. Kanehiro, K. Fujiwara, H. Hirukawa, Pattern generation of biped walking constrained on parametric surface, in: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, April 2005, pp. 2405–2410.
R. Kurazume, S. Tanaka, M. Yamashita, T. Hasegawa, Straight legged walking of a biped robot, in: Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, August 2005, pp. 3095–3101.
A. Sekiguchi, Y. Atobe, K. Kameta, Y. Tsumaki, D. Nenchev, A walking pattern generator around singularity, in: Proceedings of the 2006 IEEE-RAS International Conference on Humanoid Robots, Humanoids2006, December 2006, pp. 270–275.
M.-s. Kim, I.-W. Park, J.-Y. Kim, J.-h. Oh, Stretch-legged walking in sagittal plane, in: Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, November 2007, pp. 276–281.
N. Handharu, J. Yoon, G. Kim, Gait pattern generation with knee stretch motion for biped robot using toe and heel joints, in: Proceedings of the 2008 8th IEEE-RAS International Conference on Humanoid Robots, December 2008, pp. 265–270.
J.H. Park, S. Lee, Generation of optimal trajectory for biped robots with knees stretched, in: Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics, February 2009, pp. 166–171.
P. Kryczka, K. Hashimoto, H. Kondo, A. Omer, H.-o. Lim, A. Takanishi, Stretched knee walking with novel inverse kinematics for humanoid robots, in: Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2011, pp. 3221–3226.
K. Miura, M. Morisawa, F. Kanehiro, S. Kajita, K. Kaneko, K. Yokoi, Human-like walking with toe supporting for humanoids, in: Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2011, pp. 4428–4435.
K. Hu, C. Ott, D. Lee, Online human walking imitation in task and joint space based on quadratic programming, in: Proceedings of the 2014 IEEE International Conference on Robotics & Automation, ICRA, May 2014, pp. 3458–3464.
Rose, 2005, 1
Lim, 2004, Position-based impedance control of a biped humanoid robot, Adv. Robot., 18, 415, 10.1163/156855304773822491
Winter, 1995, Human balance and posture control during standing and walking, J. Gait Posture, 3, 193, 10.1016/0966-6362(96)82849-9
Vukobratović, 1975, Postural stability of anthropomorphic systems, J. Math. Biosci., 25, 217, 10.1016/0025-5564(75)90004-8
Huang, 2005, Sensory reflex control for humanoid walking, IEEE Trans. Robot., 21, 977, 10.1109/TRO.2005.851381
Y. Sugahara, Y. Mikuriya, K. Hashimoto, T. Hosobata, H. Sunazuka, M. Kawase, H.-o. Lim, A. Takanishi, Walking control method of biped locomotors on inclined plane, in: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, April 2005, pp. 1977–1982.
Kim, 2007, Walking control algorithm of biped humanoid robot on uneven and inclined floor, J. Intell. Robot. Syst., 48, 457, 10.1007/s10846-006-9107-8
B.J. Stephens, C.G. Atkeson, Dynamic balance force control for compliant humanoid robots, in: Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, October 2010, pp. 1248–1255.
Mitobe, 2004, A new control method for walking robots based on angular momentum, J. Mechatron., 14, 163, 10.1016/S0957-4158(03)00028-X
T. Komura, H. Leung, S. Kudoh, J. Kuffner, A feedback controller for biped humanoids that can counteract large perturbations during Gait, in: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, April 2005, pp. 1989–1995.
M. Popovic, A. Hofmann, H. Herr, Angular momentum regulation during human walking: Biomechanics and control, in: Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 3, April 2004, pp. 2405–2411.
Kalman, 1960, A new approach to linear filtering and prediction problems, Trans. ASME J. Basic Eng., 35, 10.1115/1.3662552
Welch, 2001, 22
Laue, 2006, Simrobot—A general physical robot simulator and its application in RoboCup, 173
F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, S. Kajita, K. Yokoi, H. Hirukawa, K. Akachi, T. Isozumi, The first humanoid robot that has the same size as a human and that can lie down and get up, in: Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003, pp. 1633–1639.
K. Kaneko, K. Harada, F. Kanehiro, G. Miyamori, K. Akachi, Humanoid robot HRP-3, in: Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, pp. 2471–2478.
Ulbrich, 2006, Development of the humanoid robot LOLA, Appl. Mech. Mater., 5–6, 529, 10.4028/www.scientific.net/AMM.5-6.529
J. Yamaguchi, A. Takanishi, I. Kato, Development of a biped walking robot compensating for three-axis moment by trunk motion, in: Proceedings of the 1993 IEEE International Conference on Intelligent Robots and Systems, 1993, pp. 561–566.
D. Scholz, S. Kurowski, K. Radkhah, O. von Stryk, Bio-inspired motion control of the musculoskeletal biobiped1 robot based on a learned inverse dynamics model, in: 2011 11th IEEE-RAS International Conference on Humanoid Robots, Humanoids, 2011, pp. 395–400.
Tasse, 2013, Observer based biped walking control, a sensor fusion approach, Auton. Robots, 35, 37, 10.1007/s10514-013-9333-4