The DOI matches its Crossref record; 23 of the 23 references it cites were found in a registry or an index.
Virtual model control of a bipedal walking robot
Abstract
The transformation from high level task specification to low level motion control is a fundamental issue in sensorimotor control in animals and robots. This paper describes a control scheme called virtual model control that addresses this issue. Virtual model control is a motion control language that uses simulations of imagined mechanical components to create forces, which are applied through real joint torques, thereby creating the illusion that the virtual components are connected to the robot. Due to the intuitive nature of this technique, designing a virtual model controller requires the same skills as designing the mechanism itself. A high level control system can be cascaded with the low level virtual model controller to modulate the parameters of the virtual mechanisms. Discrete commands from the high level controller would then result in fluid motion. Virtual model control has been applied to a physical bipedal walking robot. A simple algorithm utilizing a simple set of virtual components has successfully compelled the robot to walk continuously over level terrain.
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Cites
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Khatib, O. (1986) · The International Journal of Robotics Research · doi:10.1177/027836498600500106 · Cited by 7,894
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Craig, J. (1986) · Cited by 5,024
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Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
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Self-citationIntroduction to linear algebra
(2016) · Cybersecurity and Applied Mathematics · doi:10.1016/b978-0-12-804452-0.09998-x · Cited by 1,646
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Cited by
Biped walking pattern generation by using preview control of zero-moment point
Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., & Hirukawa, H. (2004) · 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) · doi:10.1109/robot.2003.1241826 · Cited by 2,104
Series elastic actuator development for a biomimetic walking robot
Robinson, D. W., Pratt, J. E., Paluska, D. J., & Pratt, G. A. (1999) · 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No.99TH8399) · doi:10.1109/aim.1999.803231 · Cited by 409
Self-citation
Metadata
- Authors
- Pratt, J., Dilworth, P., & Pratt, G.
- Venue
- Proceedings of International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2002-11-22
- Volume
- 1
- Pages
- 193-198
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2149606028
- Cited by
- 299
- References
- 23
- FWCI
- 28.67
- Type
- conference paper
- Language
- en
- Open access
- closed
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