Pragmatic rules for real-time control of the dynamic walking of an under-actuated biped robot

  title={Pragmatic rules for real-time control of the dynamic walking of an under-actuated biped robot},
  author={Christophe Sabourin and Olivier Bruneau and Jean-Guy Fontaine},
  journal={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004},
  pages={4216-4221 Vol.4}
In this paper, we propose a control strategy allowing us to perform the transition of velocities included in [0 m/s; 1 m/s] for the dynamic walking of an under-actuated robot (RABBIT) without reference trajectories. This strategy of control also enables us to carry out the transition from stop towards walking and the reverse process. The interest of this method resides in the fact that on one hand the intrinsic dynamics of the system are exploited by using a succession of active and passive… CONTINUE READING
10 Citations
8 References
Similar Papers


Publications citing this paper.
Showing 1-10 of 10 extracted citations


Publications referenced by this paper.
Showing 1-8 of 8 references

Fonraine. Control stntegy for the dynadc walking of a bipedal robot based on passive and active srages

  • Bmeau. I-G
  • ISMCR,
  • 2002

& ahi . Waudog pattern generation ior biped locomotion

  • A. T Lim
  • prmedingr E E E Conf on Robotics and Automation
  • 2001

Design and acruation optimisation of a 4 axes biped robot for walking and NMing

  • C. Chevallereau. P. Sardain
  • In P m IEEE Codon Robotics and Automation,
  • 2000

Exploiting natural dynamics in the conml of 3D bipedal w&ng simulation

  • Prag G. Pran
  • Conference on Climbing and Walldng Robots
  • 1999

Fomal ' sky . B . Penin . Low energy cost reference mjectories for a biped robot

  • A. Chwallereau
  • 1999

Himse, Y H a h w a T. Takensa. The development of Honda humanoid robot

  • M. Ill K. Hirai
  • In prmedingr E E E Conf on Robotics and…
  • 1998

Control architecture and algorithms of the antkopmorphic biped BIPZOOO

  • K. LofAer Gienger, F. Pfeiffec, Vukobmovic. B. Boiowc. D. surla. D. Slokic
  • 1990

Espiau and A . Keramane . Limit cycles and their stability in passive bipedal gait

  • B. Goswami
  • In hoc IEEE Cod . on Robotics and Automation

Similar Papers

Loading similar papers…