Design and development of flexi ankle minimalist bipedal robot with split mass hip structure for an optimal walk stability control

............................................................................................................................ i Acknowledgement ........................................................................................................... ii Declaration ...................................................................................................................... iii Publications Arising from this Thesis .......................................................................... iv

[1]  Y. S. Hung,et al.  Stabilization of biped dynamic walking using gyroscopic couple , 1996, Proceedings IEEE International Joint Symposia on Intelligence and Systems.

[2]  Atsuo Takanishi,et al.  Biped walking robots created at Waseda University: WL and WABIAN family , 2007, Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences.

[3]  T. Takenaka,et al.  The development of Honda humanoid robot , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[4]  Y. Takahashi,et al.  High-speed matrix pressure sensor for humanoid robot by using thin force sensing resistance rubber sheet , 2004, Proceedings of IEEE Sensors, 2004..

[5]  Hisashi Osumi,et al.  Acquisition of reaction force distributions for a walking humanoid robot , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[6]  Kazuhito Yokoi,et al.  Resolved momentum control: humanoid motion planning based on the linear and angular momentum , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[7]  F. Horak,et al.  Central programming of postural movements: adaptation to altered support-surface configurations. , 1986, Journal of neurophysiology.

[8]  M. Vukobratovic,et al.  Contribution to the Synthesis of Biped Gait , 1968 .

[9]  Pierre Blazevic,et al.  Mechatronic design of NAO humanoid , 2009, 2009 IEEE International Conference on Robotics and Automation.

[10]  Jie Zhao,et al.  A PD control scheme for passive dynamic walking based on series elastic actuator , 2012, 2012 IEEE International Conference on Mechatronics and Automation.

[11]  Ryo Kurazume,et al.  Straight legged walking of a biped robot , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[12]  Atsuo Takanishi,et al.  Avoidance behavior from external forces for biped vehicle , 2010, 2010 IEEE International Conference on Robotics and Automation.

[13]  Robert D. Howe,et al.  Foot placement and velocity control in smooth bipedal walking , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[14]  D Tlalolini,et al.  Human-Like Walking: Optimal Motion of a Bipedal Robot With Toe-Rotation Motion , 2011, IEEE/ASME Transactions on Mechatronics.

[15]  Atsuo Takanishi,et al.  Balance and impedance control for biped humanoid robot locomotion , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[16]  S. Ali,et al.  MHS measure for postural stability monitoring and control of biped robots , 2008, 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[17]  Christopher G. Atkeson,et al.  Coordinating Feet in Bipedal Balance , 2006, 2006 6th IEEE-RAS International Conference on Humanoid Robots.

[18]  Wei Xu,et al.  An improved ZMP trajectory design for the biped robot BHR , 2011, 2011 IEEE International Conference on Robotics and Automation.

[19]  Martijn Wisse,et al.  Design and Construction of MIKE; a 2-D Autonomous Biped Based on Passive Dynamic Walking , 2006 .

[20]  Ambarish Goswami,et al.  Momentum-based reactive stepping controller on level and non-level ground for humanoid robot push recovery , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[21]  Kikuo Fujimura,et al.  The intelligent ASIMO: system overview and integration , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[22]  Tae-Kyu Yang,et al.  Control system design of pelvis platform for biped stability , 2007, 2007 International Conference on Control, Automation and Systems.

[24]  Tad McGeer,et al.  Passive Dynamic Walking , 1990, Int. J. Robotics Res..

[25]  Arthur D Kuo,et al.  Energetics of actively powered locomotion using the simplest walking model. , 2002, Journal of biomechanical engineering.

[26]  Youngjin Park,et al.  A study on stability of passive dynamic walking model with flat feet , 2012, 2012 Proceedings of SICE Annual Conference (SICE).

[27]  Toshikazu Kawasaki,et al.  Design of prototype humanoid robotics platform for HRP , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[28]  Christophe Sabourin,et al.  Robustness of the dynamic walk of a biped robot subjected to disturbing external forces by using CMAC neural networks , 2005, Robotics Auton. Syst..

[29]  A. Kalamdani,et al.  Robots with Sensitive Feet , 2007, IEEE Instrumentation & Measurement Magazine.

[30]  Ken Chen,et al.  Gait designing of biped robot according to human walking based on six-axis force sensors , 2003, Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694).

[31]  Daniel E. Koditschek,et al.  Hybrid zero dynamics of planar biped walkers , 2003, IEEE Trans. Autom. Control..

[32]  GrahamMann.  Stability Control in an Actively-Balanced Bipedal Robot , 2008 .

[33]  Qinghua Li,et al.  A biped walking robot having a ZMP measurement system using universal force-moment sensors , 1991, Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91.

[34]  Masaki Ogino,et al.  Stabilization of quasi-passive pneumatic muscle walker , 2004, 4th IEEE/RAS International Conference on Humanoid Robots, 2004..

[35]  Zhi Liu,et al.  Gait control of humanoid robots via fuzzy logic and iterative optimization , 2011, Proceedings of the 30th Chinese Control Conference.

[36]  Masaki Yamakita,et al.  Active walking robot mimicking flat-footed passive dynamic walking , 2012, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[37]  M. Coleman,et al.  The simplest walking model: stability, complexity, and scaling. , 1998, Journal of biomechanical engineering.

[38]  Jun-Ho Oh,et al.  Development of humanoid robot platform KHR-2 (KAIST humanoid robot-2) , 2004, Humanoids.

[39]  Jun-Ho Oh,et al.  Adjustment of home posture of a biped humanoid robot using an inertial sensor and force torque sensors , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[40]  Jerry E. Pratt,et al.  Stable adaptive control of a bipedal walking; robot with CMAC neural networks , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[41]  Franck Plestan,et al.  Asymptotically stable walking for biped robots: analysis via systems with impulse effects , 2001, IEEE Trans. Autom. Control..

[42]  Minoru Asada,et al.  Walking stabilization of biped with pneumatic actuators against terrain changes , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[43]  Andrew L. Kun,et al.  Control of variable speed gaits for a biped robot , 1999, IEEE Robotics Autom. Mag..

[44]  Jun-Ho Oh,et al.  Development of a Humanoid Robot Platform HUBO FX-1 , 2006, 2006 SICE-ICASE International Joint Conference.

[45]  Atsuo Takanishi,et al.  Realization of dynamic biped walking stabilized by trunk motion on a sagittally uneven surface , 1990, EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications.

[46]  Ryo Kurazume,et al.  The sway compensation trajectory for a biped robot , 2003, IEEE International Conference on Robotics and Automation.

[47]  S. Niku.  Introduction to Robotics: Analysis, Systems, Applications , 2001 .

[48]  Atsuo Kawamura,et al.  Bipedal Trajectory Generation Based on Combining Inertial Forces and Intrinsic Angular Momentum Rate Changes: Eulerian ZMP Resolution , 2012, IEEE Transactions on Robotics.

[49]  Chih-Lyang Hwang,et al.  Trajectory-based control under ZMP constraint for the 3D biped walking via fuzzy control , 2011, 2011 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2011).

[50]  Peggy Israel Doerschuk,et al.  A modular approach to intelligent control of a simulated jointed leg , 1998, IEEE Robotics Autom. Mag..

[51]  T.-H.S. Li,et al.  Stair-Climbing Control of Humanoid Robot using Force and Accelerometer Sensors , 2007, SICE Annual Conference 2007.

[52]  W.T. Miller.  Real-time neural network control of a biped walking robot , 1994, IEEE Control Systems.

[53]  Liquan Wang,et al.  Study on optimal design for two DOF parallel ankle joint mechanism of a biped robot , 2008, 2008 IEEE International Conference on Mechatronics and Automation.

[54]  Seokmin Hong,et al.  Balance control in whole body coordination framework for biped humanoid robot MAHRU-R , 2008, RO-MAN 2008 - The 17th IEEE International Symposium on Robot and Human Interactive Communication.

[55]  Ken Endo,et al.  Realtime ZMP compensation for biped walking robot using adaptive inertia force control , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[56]  Fumio Kanehiro,et al.  Humanoid robot HRP-2 , 2008, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[57]  Shuuji Kajita,et al.  Adaptive Gait Control of a Biped Robot Based on Realtime Sensing of the Ground Profile , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[58]  L. Geppert,et al.  Qrio, the robot that could , 2004, IEEE Spectrum.

[59]  Akihito Sano,et al.  Realization of natural dynamic walking using the angular momentum information , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[60]  Franck Plestan,et al.  Estimation of Absolute Orientation for a Bipedal Robot: Experimental Results , 2011, IEEE Transactions on Robotics.

[61]  T. Takahashi,et al.  Posture control using foot toe and sole for biped walking robot "Ken" , 2002, 7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623).

[62]  Jun-Ho Oh,et al.  Mechanical design of humanoid robot platform KHR-3 (KAIST Humanoid Robot 3: HUBO) , 2005, 5th IEEE-RAS International Conference on Humanoid Robots, 2005..

[63]  Atsushi Konno,et al.  Design of a 3 DOFs parallel actuated mechanism for a biped hip joint , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[64]  Shuuji Kajita,et al.  Study of dynamic biped locomotion on rugged terrain-derivation and application of the linear inverted pendulum mode , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[65]  Friedrich Pfeiffer,et al.  The concept of jogging JOHNNIE , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[66]  Qingjiu Huang,et al.  Energy-Efficient Trajectory Planning for Biped Walking Robot , 2006, 2006 IEEE International Conference on Robotics and Biomimetics.

[67]  Guy Bessonnet,et al.  Zero moment point-measurements from a human walker wearing robot feet as shoes , 2004, IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans.

[68]  Martijn Wisse,et al.  Passive-Based Walking Robot , 2007, IEEE Robotics & Automation Magazine.

[69]  Atsuo Takanishi,et al.  A fall avoidance foot mechanism for a biped locomotor , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[70]  C. Chew,et al.  MECHANICAL DESIGN OF AN ANTHROPOMORPHIC BIPEDAL ROBOT , 2003 .

[71]  David N. Lee,et al.  Regulation of gait in long jumping. , 1982 .

[72]  Y. Takahashi,et al.  Robotic assistance for aged people , 1998, Proceedings of the 37th SICE Annual Conference. International Session Papers.

[73]  Min Cheol Lee,et al.  Fuzzy Posture Control for Biped Walking Robot Based on Force Sensor for ZMP , 2006, 2006 SICE-ICASE International Joint Conference.

[74]  Koh Hosoda,et al.  Design and Control of 2D Biped that can Walk and Run with Pneumatic Artificial Muscles , 2006, 2006 6th IEEE-RAS International Conference on Humanoid Robots.

[75]  Vinutha Kallem,et al.  Rate of change of angular momentum and balance maintenance of biped robots , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[76]  Atsuo Takanishi,et al.  Realization of dynamic human-carrying walking by a biped locomotor , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[77]  H. Wongsuwarn,et al.  Experimental Study for a FIBO Humanoid Robot , 2006, 2006 IEEE Conference on Robotics, Automation and Mechatronics.

[78]  Miomir Vukobratovic,et al.  Contribution to the study of anthropomorphic systems , 1972, Kybernetika.

[79]  Atsuo Kawamura,et al.  A study on the zero moment point measurement for biped walking robots , 2002, 7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623).

[80]  Christine Chevallereau,et al.  Design and actuation optimization of a 4-axes biped robot for walking and running , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[81]  Atsuo Takanishi,et al.  Multisensor foot mechanism with shock absorbing material for dynamic biped walking adapting to unknown uneven surfaces , 1996, 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems (Cat. No.96TH8242).

[82]  Garth Zeglin,et al.  Powered bipeds based on passive dynamic principles , 2005, 5th IEEE-RAS International Conference on Humanoid Robots, 2005..

[83]  Jeanine Weekes Schroer,et al.  The Finite String Newsletter Abstracts of Current Literature Glisp User's Manual , 2022 .

[84]  Arun Dayal Udai,et al.  Optimum Hip Trajectory Generation of a Biped Robot during Single Support Phase Using Genetic Algorithm , 2008, 2008 First International Conference on Emerging Trends in Engineering and Technology.

[85]  Joan N. Vickers,et al.  How far ahead do we look when required to step on specific locations in the travel path during locomotion? , 2002, Experimental Brain Research.

[86]  Miomir Vukobratovic,et al.  Zero-Moment Point - Thirty Five Years of its Life , 2004, Int. J. Humanoid Robotics.

[87]  Oussama Khatib,et al.  Compliant humanoid robot control by the torque transformer , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[88]  Changjiu Zhou,et al.  Human and humanoid robot interaction using 6-axis force torque sensors , 2012, 2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA).

[89]  Jong Hyeon Park,et al.  ZMP compensation by online trajectory generation for biped robots , 1999, IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028).

[90]  Eric Kubica,et al.  Introduction of the Foot Placement Estimator: A Dynamic Measure of Balance for Bipedal Robotics , 2008 .

[91]  Tad McGeer,et al.  Passive walking with knees , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[92]  Zhiyun Lin,et al.  Walking control for compass-like biped robot with underactuated ankle , 2012, Proceedings of the 10th World Congress on Intelligent Control and Automation.

[93]  Tatsuzo Ishida,et al.  Development of sensor system of a small biped entertainment robot , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[94]  D. Surdilovic,et al.  Gait phase and centre of pressure measuring system , 2004, 2nd IEEE International Conference on Industrial Informatics, 2004. INDIN '04. 2004.

[95]  Masayuki Inaba,et al.  The experimental humanoid robot H7: a research platform for autonomous behaviour , 2007, Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences.

[96]  K. Erbatur,et al.  Humanoid Walking Robot Control with Natural ZMP References , 2006, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics.

[97]  S. Grillner.  Locomotion in vertebrates: central mechanisms and reflex interaction. , 1975, Physiological reviews.

[98]  T. Ishida.  Development of a small biped entertainment robot QRIO , 2004, Micro-Nanomechatronics and Human Science, 2004 and The Fourth Symposium Micro-Nanomechatronics for Information-Based Society, 2004..

[99]  William A. Gruver,et al.  Control of a 5-link biped robot for steady walking , 1988, Proceedings IEEE International Symposium on Intelligent Control 1988.

[100]  F. Farkas,et al.  Balanced walking and rapid movements in a biped robot by using a symmetric rotor and a brake , 2005, IEEE International Conference Mechatronics and Automation, 2005.

[101]  Friedrich Pfeiffer,et al.  Sensors and control concept of a biped robot , 2004, IEEE Transactions on Industrial Electronics.

[102]  S. D. Prentice,et al.  What guides the selection of alternate foot placement during locomotion in humans , 1999, Experimental Brain Research.

[103]  M. Kumagai,et al.  Sensor-based walking of human type biped robot that has 14 degree of freedoms , 1997, Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice.

[104]  Atsuo Takanishi,et al.  Development of a biped walking robot compensating for three-axis moment by trunk motion , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[105]  Atsuo Takanishi,et al.  REALIZATION OF DYNAMIC WALKING BY THE BIPED WALKING ROBOT WL-10RD. , 1985 .

[106]  Marco Ceccarelli,et al.  Climbing stairs with EP-WAR2 biped robot , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[107]  Tom Ziemke,et al.  Humanoids that crawl: Comparing gait performance of iCub and NAO using a CPG architecture , 2011, 2011 IEEE International Conference on Computer Science and Automation Engineering.

[108]  Ohung Kwon,et al.  Design of Multipurpose Sensing System for Human Gait Analysis , 2006, 2006 SICE-ICASE International Joint Conference.

[109]  Sung-Hee Lee,et al.  Ground reaction force control at each foot: A momentum-based humanoid balance controller for non-level and non-stationary ground , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.