A Hybrid System Control Approach to Biped Robot Control

• Autorzy: Yin Y. , Hosoe S.
• Języki publikacji: EN

Słowa kluczowe

EN

biped robot; MLD model; periodic motion; hybrid system control

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2008
• Tom: Vol. 2, No. 4
• Strony: 64--69
• Opis fizyczny: Bibliogr. 17 poz., rys.

Twórcy

autor

Yin Y.

autor

Hosoe S.

• Measurement & Instrumentation Engineering Div.5, Toyota Technical Development Corporation, 1-21 Imae, Hanamoto-cho, Toyota, Aichi, 470-0334 Japan,

Bibliografia

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• [3] J.H. Park, H. Chung, "Hybrid control of biped robots to increase stability in locomotion", Journal of Robotic Systems, vol. 17, no.4, 2000, pp. 187-197.
• [4] J. Denk and G. Schmidt, "Walking primitive synthesis for an anthropomorphic biped using optimal control techniques". In: Proc. of the Inter. Conf. on Climbing and Walking Robots (CLAWAR), Karlsruhe, Germany, Septem-ber2001, pp.819-826.
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• [12] E. R. Westervelt, J. W. Grizzle, and D. E. Koditschek, "Hybrid Zero Dynamics of Planar Biped Walkers", In: IEEE Trans, on Automatic Control, vol. 48, Jan. 2003, pp. 42-56.
• [13] C. Chevallereau, E.R. Westervelt, and J.W. Grizzle, "Asymptotically Stable Running for a Five-Link, Four-Actuator, Planar Bipedal Robot", Inter. Journal of Robotics Research, vol. 24, June 2005, pp. 431-464.
• [14] E. Muramatsu, K. Watanabe, "The stability condition of the 2-order piecewise linear systems based on the eigen value and eigen vector", In: Trans, of the Institute of Systems, Control, and Information Engineers, vol. 18, 2005, no.2,pp. 70-79.
• [15] M. Kawato, "Internat models for motor control and trajectory planning", Current Opinion in Neurobiology, no. 9,1999, pp. 718-727.
• [16] Y.J. Yin, S. Hosoe, "Tracking Control of Mixed Logic Dynamical Systems", In: IEICE Trans, on Fundamentais of Electronics, Communications and Computer Sciences, vol. E87-A, no.ll, 2004, pp. 2929-2936.
• [17] Y.J. Yin, S. Hosoe, "Mixed Logic Dynamical Modeling and On Line Optimal Control of Biped Robot". In: Proc. of IEEE/RSJ Inter. Conf. on Inteliigent Robots and Systems, Oct. 2006, pp. 5895-5900.