[go: up one dir, main page]

Aoustin et al., 2008 - Google Patents

On optimal swinging of the biped arms

Aoustin et al., 2008

View PDF
Document ID
13005673378357824587
Author
Aoustin Y
Formal'Skii A
Publication year
Publication venue
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

External Links

Snippet

A ballistic walking gait is designed for a planar biped with two identical two-link legs, a trunk and two one-link arms. This seven-link biped is controlled via impulsive torques at the instantaneous double support to obtain a cyclic gait. These impulsive torques are applied in …
Continue reading at hal.science (PDF) (other versions)

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure

Similar Documents

Publication Publication Date Title
EP1510446B1 (en) Robot and attitude control method of robot
Tlalolini et al. Design of a walking cyclic gait with single support phases and impacts for the locomotor system of a thirteen-link 3d biped using the parametric optimization
Li et al. Ai-cpg: Adaptive imitated central pattern generators for bipedal locomotion learned through reinforced reflex neural networks
Aoustin et al. 3D walking biped: optimal swing of the arms
Mu et al. A complete dynamic model of five-link bipedal walking
Moon et al. Analysis of period-1 passive limit cycles for flexible walking of a biped with knees and point feet
Aoustin et al. On optimal swinging of the biped arms
Haq et al. Effects of knee locking and passive joint stiffness on energy consumption of a seven-link planar biped
Shafii et al. An optimized gait generator based on fourier series towards fast and robust biped locomotion involving arms swing
NIKOLIĆ et al. A further generalization of task-oriented control through tasks prioritization
Wang et al. Trajectory design and adaptive impedance control of lower limb exoskeleton
Saidouni Numerical synthesis of three-dimensional gait cycles by dynamics optimization
Xie et al. A deterministic way of planning and controlling biped walking of LOCH humanoid robot
Lu et al. Transition motion from ladder climbing to brachiation with optimal load-allocation control
Hu et al. Optimal control based push recovery strategy for the iCub humanoid robot with series elastic actuators
Jamisola et al. Investigating modular relative jacobian control for bipedal robot
Miossec et al. Walking gait composed of single and double supports for a planar biped without feet
Vukobratović et al. Humanoid Robots
Azarkaman et al. Evaluating GA and PSO evolutionary algorithms for humanoid walk pattern planning
Pournazhdi et al. Dynamic modeling and sliding mode control for fast walking of seven-link biped robot
Bianchi et al. Adaptive internal impedance control for stable walking on uncertain visco-elastic terrains
Adak et al. Whole-body pace gait control based on centroidal dynamics of a quadruped robot
Zhong et al. Dynamic characteristics of a jumping robot with coordinated quadruped legs
Omran et al. Using the generalized inverted pendulum to generate less energy-consuming trajectories for humanoid walking
Shoushtari What strategy central nervous system uses to perform a movement balanced? Biomechatronical simulation of human lifting