A compliant humanoid walking strategy based on the switching of state feedback gravity compensation controllers
暂无分享,去创建一个
Nikolaos G. Tsagarakis | Jian S. Dai | Emmanouil Spyrakos-Papastavridis | Darwin G. Caldwell | Gustavo A. Medrano-Cerda
[1] Minhyung Lee,et al. Control design to achieve dynamic walking on a bipedal robot with compliance , 2012, 2012 IEEE International Conference on Robotics and Automation.
[2] P. Olver. Nonlinear Systems , 2013 .
[3] Nikolaos G. Tsagarakis,et al. Gravity compensation control of compliant joint systems with multiple drives , 2013, 2013 IEEE International Conference on Robotics and Automation.
[4] Hassan K. Khalil,et al. Nonlinear Systems Third Edition , 2008 .
[5] Barkan Ugurlu,et al. Compliant joint modification and real-time dynamic walking implementation on bipedal robot cCub , 2011, 2011 IEEE International Conference on Mechatronics.
[6] Kazuhito Yokoi,et al. Biped walking stabilization based on linear inverted pendulum tracking , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[7] Alin Albu-Schäffer,et al. A globally stable state feedback controller for flexible joint robots , 2001, Adv. Robotics.
[8] Jerry E. Pratt,et al. Intuitive control of a planar bipedal walking robot , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).
[9] Gordon Cheng,et al. Passivity-Based Full-Body Force Control for Humanoids and Application to Dynamic Balancing and Locomotion , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[10] Nikolaos G. Tsagarakis,et al. Internal model control for improving the gait tracking of a compliant humanoid robot , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[11] Rafael Kelly,et al. Global regulation of elastic joint robots based on energy shaping , 1998, IEEE Trans. Autom. Control..
[12] Nikolaos G. Tsagarakis,et al. Walking pattern generation for a humanoid robot with compliant joints , 2013, Auton. Robots.
[13] Alin Albu-Schäffer,et al. State feedback controller for flexible joint robots: a globally stable approach implemented on DLR's light-weight robots , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).
[14] Gordon Cheng,et al. Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces , 2007, IEEE Transactions on Robotics.
[15] Jun Morimoto,et al. Switching multiple LQG controllers based on bellman's optimality principle: Using full-state feedback to control a humanoid robot , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[16] Ian Postlethwaite,et al. Multivariable Feedback Control: Analysis and Design , 1996 .
[17] Nikolaos G. Tsagarakis,et al. Walking trajectory generation for humanoid robots with compliant joints: Experimentation with COMAN humanoid , 2012, 2012 IEEE International Conference on Robotics and Automation.
[18] Nikolaos G. Tsagarakis,et al. COMpliant huMANoid COMAN: Optimal joint stiffness tuning for modal frequency control , 2013, 2013 IEEE International Conference on Robotics and Automation.
[19] Alessandro De Luca,et al. PD control with on-line gravity compensation for robots with elastic joints: Theory and experiments , 2005, Autom..
[20] Atsuo Takanishi,et al. Semi-passive dynamic walking for humanoid robot using controllable spring stiffness on the ankle joint , 2000, 2009 4th International Conference on Autonomous Robots and Agents.
[21] T. Takenaka,et al. The development of Honda humanoid robot , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).
[22] Kyung Shik Roh,et al. Towards natural bipedal walking: Virtual gravity compensation and capture point control , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[23] P. Tomei. A simple PD controller for robots with elastic joints , 1991 .
[24] Qiang Huang,et al. Sensory reflex control for humanoid walking , 2005, IEEE Transactions on Robotics.
[25] Pierre-Yves Oudeyer,et al. Bio-inspired vertebral column, compliance and semi-passive dynamics in a lightweight humanoid robot , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.