Walking pattern generation for a humanoid robot with compliant joints

@article{Li2013WalkingPG,
  title={Walking pattern generation for a humanoid robot with compliant joints},
  author={Z. Li and N. Tsagarakis and D. Caldwell},
  journal={Autonomous Robots},
  year={2013},
  volume={35},
  pages={1-14}
}
This work presents a walking pattern generator based on the control of the center of mass (COM) states and its experimental validations on the compliant humanoid robot COMAN powered by intrinsically compliant joints. To cope with the inaccuracies of the joint position tracking resulted by the physical compliance, the proposed pattern generator uses the feedback states of the COM and on-line computes the updated COM references. The position and velocity of the COM are the state variables, and… Expand
34 Citations
A compliant humanoid walking strategy based on the switching of state feedback gravity compensation controllers
  • 9
  • PDF
Imitation of Dynamic Walking With BSN for Humanoid Robot
  • 9
  • PDF
Stabilization of bipedal walking based on compliance control
  • 25
  • PDF
8-DoF biped robot with compliant links
  • A. Sarkar, A. Dutta
  • Computer Science
  • 2014 13th International Conference on Control Automation Robotics & Vision (ICARCV)
  • 2014
  • 13
8-DoF biped robot with compliant links
  • 2
Research on Walking Gait of Biped Robot Based on a Modified CPG Model
  • 7
  • PDF
Adaptive Torque and Position Control for a Legged Robot Based on a Series Elastic Actuator
  • 13
Exploiting the redundancy for humanoid robots to dynamically step over a large obstacle
  • 7
...
1
2
3
4
...

References

SHOWING 1-10 OF 36 REFERENCES
Internal model control for improving the gait tracking of a compliant humanoid robot
  • 5
3D limit cycle walking of musculoskeletal humanoid robot with flat feet
  • 34
  • PDF
Experimentation of Humanoid Walking Allowing Immediate Modification of Foot Place Based on Analytical Solution
  • 77
  • PDF
Simulation and Control of Biped Walking Robots
  • 43
  • PDF
Animation of dynamic legged locomotion
  • 382
  • PDF
Fast bipedal walk using large strides by modulating hip posture and toe-heel motion
  • 11
A Fast Dynamically Equilibrated Walking Trajectory Generation Method of Humanoid Robot
  • 139
Biped walking pattern generation by using preview control of zero-moment point
  • S. Kajita, F. Kanehiro, +4 authors H. Hirukawa
  • Engineering, Computer Science
  • 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
  • 2003
  • 1,921
  • PDF
Biped walking stabilization based on linear inverted pendulum tracking
  • 316
  • PDF
The evolution of control and adaptation in a 3D powered passive dynamic walker
  • 44
  • Highly Influential
  • PDF
...
1
2
3
4
...