Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

Berns K, Ilg W, Deck M, Dillmann R (1998) The mammalian-like quadrupedal walking machine BISAM. In: International workshop on advanced motion control, Coimbra, Portugal Billard A, Ijspeert AJ (2000) Biologically inspired neural controllers for motor control in a quadruped robot. In: International joint conference on neural networks, Come, Italy Buehler M, Playter R, Raibert M (2005) Robots step outside. In: International symposium on adaptive motion of animals and machines, Ilmenau, Germany Canderle J, Caldwell DG (2000) A biologically inspired quadruped using pneumatic muscle actuators. In: International conference on climbing and walking robots, Madrid, Spain Cappelletto J, Estavez P, Modina W, Fermin L, Bogado JM, Grieco JC, Fernando-Lopez G (2006) Gait synthesis and modulation for quadruped robot locomotion using a simple feed-forward network. In: International conference on artificial intelligence and soft computing, Zakopane, Poland Cappelletto J, Estevez P, Fernando-Lopez G, Grieco JC (2007) A cpg with force feedback for a statically stable quadruped gait. In: International conference on climbing and walking robots, Singapore Chae KG, Park JH (2008) Trajectory optimization with ga and control for quadruped robots. J Mech Sci Technol 23:114–123 Collins JJ, Richmond SA (1994) Hard-wired central pattern generators for quadrupedal locomotion. Biol Cybern 71:375–385 Dégallier Rochat S, Ijspeert A (2010) Modeling discrete and rhythmic movements through motor primitives: a review. Biol Cybern 103(4):319–338 Degallier S, Righetti L, Natale L, Nori F, Metta G, Ijspeert A (2008) A modular bio-inspired architecture for movement generation for the infant-like robot iCub. In: 2nd IEEE RAS & EMBS international conference on biomedical robotics and biomechatronics, Scottsdale, AZ, USA Fujii A, Saito N, Nakahira K, Ishiguro A, Eggenberger P (2002) Generation of an adaptive controller cpg for a quadruped robot with neuromodulation mechanism. In: IEEE international workshop on intelligent robots and systems, Lausanne, Switzerland Fujita M, Kitano H (1998) Development of an autonomous quadruped robot for robot entertainment. Auton Robots 5(1):7–18 Fukuoka Y, Kimura H, Cohen AH (2003) Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts. Int J Robotics Res 22(2–3):187–202 Fukuoka Y, Nakamura H, Kimura H (1999) Biologically-inspired adaptive dynamic walking of the quadruped on irregular terrain. In: International conference on control applications, Kohala Coast, HI, USA Golubovic D, Hu H (2003a) Ga-based gait generation of sony quadruped robots. In: IASTED international conference on artificial intelligence and applications, Benalmadena, Spain Golubovic D, Hu H (2003b) Parameter optimisation of an evolutionary algorithm for on-line gait generation of quadruped robots. In: IEEE international conference on industrial technology Griffin TM, Kram R, Wickler SJ, Hoyt DF (2004) Biomechanical and energetic determinants of the walk trot transition in horses. J Exp Biol 207:4215–4223 Hebbel M, Nistico W, Fisseler D (2007) Learning in a high dimensional space: fast omnidirectional quadrupedal locomotion. In: Lakemeyer G, Sklar E, Sorrenti D, Takahashi T (eds) RoboCup 2006: Robot Soccer World Cup X, Lecture Notes in Computer Science, vol 4434. Springer, Berlin, pp 314–321 Heglund NC, Taylor CR (1988) Speed, stride frequency and energy cost per stride: how do they change with body size and gait? J Exp Biol 138:301–318 Hirose S, Fukuda Y, Nagakubo A, Tsukagoshi H, Arikawa K, Endo G, Doi T, Hodoshima R (2009) Quadruped walking robots at tokio institute of technology. IEEE Robotics Autom Mag 16(2):104–114 Hoyt D, Taylor R (1981) Gait and the energetics of locomotion in horses. Nature 292:239240 Hu H, Gu D (2005) Hybrid learning architecture for fuzzy control of quadruped walking robots. Int J Intell Syst 20(2):131–152 Iida F, Gomez GJ, Pfeifer R (2005) Exploiting body dynamics for controlling a running quadruped robot. In: IEEE international conference on robotics and automation, Seattle, USA Ijspeert AJ (2008) Central pattern generators for locomotion control in animals and robots: a review. Neural Netw 21(4):642–653 Inagaki K, Kobayashi H (1993) A gait transition for quadruped walking machine. In: IEEE/RSJ international conference on intelligent robots and systems, Yokohama, Japan Ishii T, Masakado S, Ishii K (2004) Locomotion of a quadruped robot using cpg. In: IEEE International Joint Conference on Neural Networks, Budapest, Hungary Kim KY, Kwon O, Yeon JS, Park JH, (2006) Elliptic trajectory generation for galloping quadruped robots. In: IEEE international conference on robotics and biomimetics, Kunming, China Kim HK, Ohung W, Won D, Park S, Kim TJ, Kim SS (2008) Foot trajectory generation of hydraulic quadruped robots on uneven terrain. IFAC World Congress, Seoul Kimura H, Shimoyama I, Miura H (1989) Dynamics in the dynamic walk of a quadruped robot. Adv Robotics 4(3):283–301 Kimura H, Fukuoka Y, Cohen AH (2007) Adaptive dynamic walking of a quadruped robot on natural ground based on biological concepts. Int J Robotics Res 26(5):475–490 Kramy DP, Orin DE (2003) Achieving periodic leg trajectories to evolve a quadruped gallop. In: IEEE international conference on robotics and automation, Tapei, Taiwan Lin JN, Song SM (2002) Modeling gait transitions of quadrupeds and their generalization with cmac neural networks. In: IEEE international conference on systems, man and cybernetics, Yasmine Hammamet, Tunisia Liu C, Chen Y, Zhang J, Chen Q (2009) Cpg driven locomotion control of quadruped robot. In: IEEE international conference on systems, man and cybernetics, San Antonio, TX, USA Moro FL, Tsagarakis NG, Caldwell DG (2011) A human-like walking for the COmpliant huMANoid COMAN based on CoM trajectory reconstruction from kinematic Motion Primitives. In: 11th IEEE-RAS international conference on humanoid robots, Bled, Slovenia, pp 364–370 Moro FL, Tsagarakis NG, Caldwell DG (2012a) Efficient human-like walking for the COmpliant huMANoid COMAN based on kinematic Motion Primitives (kMPs). IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA Moro FL, Tsagarakis NG, Caldwell DG (2012b) On the kinematic Motion Primitives (kMPs): theory and application. Frontiers Neurorobotics 6(10):1–18 Nichol JG, Singh SPN, Waldron KJ, Orin DE (2004) System design of a quadrupedal galloping machine. Int J Robotics Res 23(10–11): 1013–1027 Pongas D, Mistry M, Schaal S (2007) A robust quadruped walking gait for traversing rough terrain. In: IEEE international conference on robotics and automation, Roma, Italy Poulakakis I, Smith JA, Buehler M (2005) Modeling and experiments of untethered quadrupedal running with a bounding gait: the scout ii robot. Int J Robotics Res 24(4):239256 Raibert M (1986) Legged robots that balance. MIT Press, Cambridge Raibert MH (1990) Trotting, pacing and bounding by a quadruped robot. J Biomech 23(1):8398 Raibert M, Blankespoor K, Nelson G, Playter R, the BigDog Team (2008) Bigdog, the roughterrain quadruped robot. IFAC World Congress, Seoul Rebula JR, Neuhaus PD, Bonnlander BV, Johnson MJ, Pratt JE (2007) A controller for the littledog quadruped walking on rough terrain. In: IEEE international conference on robotics and automation, Roma, Italy Righetti L, Ijspeert AJ (2008) Pattern generators with sensory feedback for the control of quadruped locomotion. In: IEEE international conference on robotics and automation, Pasadena, CA, USA Rutishauser S, Sproewitz A, Righetti L, Ijspeert AJ (2008) Passive compliant quadruped robot using central pattern generators for locomotion control. In: IEEE international conference on biomedical robotics and biomechatronics, Scottsdale, AZ, USA Sakakibara Y, Kan K, Hosoda Y, Hattori M, Fujie M (1990) Foot trajectory for a quadruped walking machine. In: IEEE international workshop on intelligent robots and systems, Ibaraki, Japan Semini C, Tsagarakis NG, Guglielmino E, Focchi M, Cannella F, Caldwell DG (2011) Design of hyq a hydraulically and electrically actuated quadruped robot. Proc Inst Mech Eng I 225(1):831–849 Son Y, Kamano T, Yasuno T, Suzuki T, Harada H (2006) Generation of adaptive gait patterns for quadruped robot with cpg network including motor dynamic model. Electr Eng Jpn 155(1):35–43 Spröwitz A, Tuleu A, Vespignani M, Ajallooeian M, Badri E, Ijspeert AJ (2012) Towards dynamic trot gait locomotion—design, control, and experiments with cheetah-cub, a compliant quadruped robot (under review) Tsujita K, Toui H, Tsuchiya K (2005) Dynamic turning control of a quadruped locomotion robot using oscillators. Adv Robotics 19(10):1115–1133 Vilensky JA, Libii JN, Moore AM (1991) Trot–gallop gait transitions in quadrupeds. Physiol Behav 50(4):835–842 Witte H, Hackert R, Ilg W, Biltzinger J, Schillinger N, Biedermann F, Jergas M, Preuschoft H, Fischer MS (2003) Quadrupedal mammals as paragons for walking machines. In: Proceedings of the International Symposium on Adaptive Motion of Animals and Machines, Kyoto Zhang X, Zheng H, Guan X, Chifeng Z, Zhao L (2005) A biological inspired quadruped robot: structure and control. In: IEEE international conference on robotics and biomimetics, Hong Kong, China