The DOI matches its Crossref record; 4 of the 4 references it cites were found in a registry or an index.
Biped walking pattern generation by using preview control of zero-moment point
Abstract
We introduce a new method of a biped walking pattern generation by using a preview control of the zero-moment point (ZMP). First, the dynamics of a biped robot is modeled as a running cart on a table which gives a convenient representation to treat ZMP. After reviewing conventional methods of ZMP based pattern generation, we formalize the problem as the design of a ZMP tracking servo controller. It is shown that we can realize such controller by adopting the preview control theory that uses the future reference. It is also shown that a preview controller can be used to compensate the ZMP error caused by the difference between a simple model and the precise multibody model. The effectiveness of the proposed method is demonstrated by a simulation of walking on spiral stairs.
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Cites
The development of Honda humanoid robot
Hirai, K., Hirose, M., Haikawa, Y., & Takenaka, T. (2002) · Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) · doi:10.1109/robot.1998.677288 · Cited by 1,922
A realtime pattern generator for biped walking
Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Yokoi, K., & Hirukawa, H. (2003) · Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292) · doi:10.1109/robot.2002.1013335 · Cited by 307
Self-citationVirtual model control of a bipedal walking robot
Pratt, J., Dilworth, P., & Pratt, G. (2002) · Proceedings of International Conference on Robotics and Automation · doi:10.1109/robot.1997.620037 · Cited by 299
Three Models of Preview Control
Sheridan, T. B. (1966) · IEEE Transactions on Human Factors in Electronics · doi:10.1109/thfe.1966.232329 · Cited by 250
Cited by
CHOMP: Gradient optimization techniques for efficient motion planning
Ratliff, N., Zucker, M., Bagnell, J. A., & Srinivasa, S. (2009) · 2009 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2009.5152817 · Cited by 992
Sit-to-stand and stand-to-sit transfer support for complete paraplegic patients with robot suit HAL
Tsukahara, A., Kawanishi, R., Hasegawa, Y., & Sankai, Y. (2010) · Advanced Robotics · doi:10.1163/016918610x512622 · Cited by 269
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway
Gong, Y., Hartley, R., Da, X., Hereid, A., Harib, O., Huang, J.-K., & Grizzle, J. (2019) · 2019 American Control Conference (ACC) · doi:10.23919/acc.2019.8814833 · Cited by 221
Strategies for the Control of Balance During Locomotion
Reimann, H., Fettrow, T., & Jeka, J. J. (2018) · Kinesiology Review · doi:10.1123/kr.2017-0053 · Cited by 128
Dynamic Walking with Compliance on a Cassie Bipedal Robot
Reher, J., Ma, W.-L., & Ames, A. D. (2019) · 2019 18th European Control Conference (ECC) · doi:10.23919/ecc.2019.8796090 · Cited by 81
Metadata
- Authors
- Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., & Hirukawa, H.
- Venue
- 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
- Publisher
- IEEE
- Published
- 2004-03-01
- Pages
- 1620-1626
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2133859362
- Cited by
- 2,104
- References
- 4
- FWCI
- 79.05
- Type
- conference paper
- Language
- en
- Open access
- closed
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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