Reconfigurable double inverted pendulum applied to the modelling of human robot motion

• Autorzy: Żurawska M. S. , Szumowski M. , Zielińska T.

Identyfikatory

DOI

10.14313/JAMRIS_2-2017/12

• Języki publikacji: EN

Abstrakty

EN

Reconfigurable double inverted pendulum applied to the modelling of human robot motion

Słowa kluczowe

EN

human body simplified model; double inverted pendulum; anthropomorphic data; trajectory of center of mass; Pearson’s correlaƟon coefficient

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2017
• Tom: Vol. 11, No. 2
• Strony: 12--20
• Opis fizyczny: Bibliogr. 21 poz., rys.

Twórcy

autor

Żurawska M. S.

• Warsaw University of Technology, Faculty of Power and Aeronautical Engineering, Institute of Aeronautics and Applied Mechanics, Nowowiejska 24, Warsaw, 00-665, www: tmr.meil.pw.edu.pl/web/Pracownicy/mgrMagdalena-Zurawska.

autor

Szumowski M.

• Warsaw University of Technology, Faculty of Power and Aeronautical Engineering, Institute of Aeronautics and Applied Mechanics, Nowowiejska 24, Warsaw, 00-665, www: tmr.meil.pw.edu.pl/web/Pracownicy/inz.- Maksymilian-Szumowski.

autor

Zielińska T.

• Warsaw University of Technology, Faculty of Power and Aeronautical Engineering, Institute of Aeronautics and Applied Mechanics, Nowowiejska 24, Warsaw, 00-665, www: tmr.meil.pw.edu.pl/web/Pracownicy/prof.-TeresaZielinska.

Bibliografia

• [1] Hirai K. Hirose M., Haikawa Y., Takenada T., ”The development of Honda humanoid robot”. In: 1998 IEEE International Conference on Robotics and Automation, Belgium, 1998, 1321–1226. DOI: 10.1109/ROBOT.1998.677288.
• [2] Kajita S., Kanehiro F., Kaneko K., Yokoi K., Hirukawa H., ”The 3D Linear Inverted Pendulum Mode: A simple modeling for a biped walking pattern generation”. In: Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, Hawai, 2001, 239–246. DOI: 10.1109/IROS.2001.973365.
• [3] Blickhan R., Full R.J., ”Similarity in multilegged locomotion: Bouncing like a monopode”, Journal of Comparative Physiology, vol. 173, no. 5, 1993, 509–517. DOI: 10.1007/BF00197760.
• [4] Wensing P.M., Orin D.E., ”High-Speed Humanoid Running Through Control with a 3D-SLIP Model”. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, 2013, 5134–5140. DOI:10.1109/IROS.2013.6697099.
• [5] Komura T., Nagano A., Leung H., Shinagawa Y., ”Simulating Pathological Gait Using the Enhanced Linear Inverted Pendulum”, IEEE Ttransactions on Biomedical Engineering, vol. 52, no. 9, 2005, 1502–1513.DOI:10.1109/TBME.2005.851530.
• [6] Kwon T., Hodgins J., ”Control Systems for Human Running using an Inverted Pendulum Model and a Reference Motion Capture Sequence”, Eurographics/ACM SIGGRAPH Symposium on Computer Animation, 2010, 1–11.
• [7] Hettich G., Assländer L., Gollhofer A., Mergner T., ”Human hip–ankle coordination emergingfrom multisensory feedback control”, Human Movement Science, 2014, vol. 14, 123–146. DOI: 10.1016/j.humov.2014.07.004.
• [8] Tripathi G.N., Wagatsuma H., ”PCA-Based Algorithms to Find Synergies for Humanoid Robot Motion Behavior”,International Journal of Humanoid Robotics, vol. 13, no. 2, 2016, 1–21. DOI: /10.1142/S0219843615500371.
• [9] Pratt J., Carff J., Drakunov S., Goswami A., ”Recovery Capture Point: A Step toward Humanoid Push”. In: Proceedings of the 6th IEEERAS International Conference on Humanoid Robots(Humanoids 2006), 2006, 200–207. DOI:10.1109/ICHR.2006.321385.
• [10] Tedrake R., Kuindersma S., Deits R., Miura K., ”A closed-form solution for real-time ZMP gait generation and feedback stabilization”. In: IEEE-RAS 15th International Conference onHumanoid Robots (Humanoids 2015), 2015, Seoul, Korea, 936–940. DOI: 10.1109/HUMANOIDS.2015.7363473.
• [11] Pontzer H., Holloway J.H. 4th, Raichlen D.A., Lieberman D.E., ”Control and function of arm swingin human walking and running”, Journal of Experimental Biology, vol. 212, no. 4, 2009, 523–534.DOI: 10.1242/jeb.024927.
• [12] http://health.uottawa.ca/biomech/, Dempster’s Body Segment Parameter Data for 2-D Studies, December 2016.
• [13] Kajita S., Tani K., ”Study of dynamic biped locomotion on rugged terrain – derivation and application of the linear inverted pendulum model”. In: Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, 1991, 1405–1411. DOI: 10.1109/ROBOT.1991.131811.
• [14] Blickhan R., Full R.J., ”Similarity in multilegged locomotion: Bouncing like a monopode”, Journal of Comparative Physiology, vol. 173, no. 5, 1993,509–517.DOI: 10.1007/BF00197760.
• [15] Stasse O., Verrelst B, Wieber P.B., et al., ”Modular Architecture for Humanoid Walking Pattern Prototyping and Experiments”, Advanced Robotics, vol. 22, no. 6–7, 2008, 589-611. DOI: 10.1163/156855308X305236.
• [16] Kajita S., Kanehiro F., Kaneko K., Yokoi K., Hirukawa H. ”The 3D linear inverted pendulummode: a simple modeling for a biped walking pattern generation”. In: Proceedings. 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, 2001, 239–246. DOI: 10.1109/IROS.2001.973365.
• [17] Loram I.D., Lakie M., ”Human balancing of an inverted pendulum: position control by small, ballistic-like, throw and catch movements”, Journal of Physiology, vol. 540, no. 3, 2002, 1111–1124. DOI: 10.1113/jphysiol.2001.013077.
• [18] Zielinska T., ”Coupled oscillators as gait rhytm generators of a two-legged machine”, Biological Cybernetics, vol. 74, no. 3, 1996, 263–273. DOI:10.1007/BF00652227.
• [19] Ames A. D. ”Human-Inspiered Control of Bipedal Walking Robots”, IEEE Transactions on Automatic Control, vol. 59, no. 5, 2014, 115–1130. DOI:10.1109/TAC.2014.2299342.
• [20] McGrath M., Howard D., Baker R., ”The strengths and weaknesses of inverted pendulum models of human walking”, Gait and Posture, vol. 41, no. 2, 2015, 389–394. DOI:10.1016/j.gaitpost.2014.10.023.
• [21] Kuo A. D., ”The six determinants of gait and the inverted pendulum analogy: A dynamic walking perspective”, Human Movement Science, vol. 26, no. 4, 2007, 617–656. DOI:10.1016/j.humov.2007.04.003.

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).