A unified framework for walking and running of bipedal robots
暂无分享,去创建一个
Ludovic Righetti | Majid Khadiv | Elham Daneshmand | Mahrokh Ghoddousi Boroujeni | L. Righetti | M. Khadiv | E. Daneshmand
[1] S. Gatesy,et al. Bipedal locomotion: effects of speed, size and limb posture in birds and humans , 1991 .
[2] Hartmut Geyer,et al. Walking and Running with Passive Compliance: Lessons from Engineering: A Live Demonstration of the ATRIAS Biped , 2018, IEEE Robotics & Automation Magazine.
[3] Hilary Gonzalez,et al. Functional Vertebrate Morphology , 1986, The Yale Journal of Biology and Medicine.
[4] Justin Carpentier,et al. Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots , 2019, 2019 International Conference on Robotics and Automation (ICRA).
[5] Alexander Herzog,et al. Structured contact force optimization for kino-dynamic motion generation , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
[6] Ludovic Righetti,et al. Variable Horizon MPC With Swing Foot Dynamics for Bipedal Walking Control , 2021, IEEE Robotics and Automation Letters.
[7] Aaron D. Ames,et al. Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking , 2021, ArXiv.
[8] Takashi Matsumoto,et al. Real time motion generation and control for biped robot -1st report: Walking gait pattern generation- , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[9] David E. Orin,et al. Centroidal dynamics of a humanoid robot , 2013, Auton. Robots.
[10] Koushil Sreenath,et al. Dynamic Walking on Stepping Stones with Gait Library and Control Barrier Functions , 2016, WAFR.
[11] Russ Tedrake,et al. Planning robust walking motion on uneven terrain via convex optimization , 2016, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids).
[12] Aaron D. Ames,et al. Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).
[13] Alexander Herzog,et al. A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation , 2016, ArXiv.
[14] E. Westervelt,et al. Feedback Control of Dynamic Bipedal Robot Locomotion , 2007 .
[15] Pierre-Brice Wieber,et al. Holonomy and Nonholonomy in the Dynamics of Articulated Motion , 2006 .
[16] Ludovic Righetti,et al. Efficient Multicontact Pattern Generation With Sequential Convex Approximations of the Centroidal Dynamics , 2020, IEEE Transactions on Robotics.
[17] R. M. Alexander,et al. Optimization and gaits in the locomotion of vertebrates. , 1989, Physiological reviews.
[18] R. Blickhan. The spring-mass model for running and hopping. , 1989, Journal of biomechanics.
[19] Marco Hutter,et al. A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation , 2021, IEEE Robotics and Automation Letters.
[20] Aaron D. Ames,et al. Hybrid Zero Dynamics Control of Legged Robots , 2018 .
[21] Michael Posa,et al. Optimal Reduced-order Modeling of Bipedal Locomotion , 2019, 2020 IEEE International Conference on Robotics and Automation (ICRA).
[22] Nicolas Mansard,et al. Multicontact Locomotion of Legged Robots , 2018, IEEE Transactions on Robotics.
[23] Alexander Herzog,et al. Walking Control Based on Step Timing Adaptation , 2017, IEEE Transactions on Robotics.
[24] Donald Goldfarb,et al. A numerically stable dual method for solving strictly convex quadratic programs , 1983, Math. Program..
[25] R. Alexander,et al. Mechanics and scaling of terrestrial locomotion 93-110, illust , 1977 .
[26] Scott Kuindersma,et al. Modeling and Control of Legged Robots , 2016, Springer Handbook of Robotics, 2nd Ed..
[27] Alin Albu-Schäffer,et al. Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion , 2015, IEEE Transactions on Robotics.
[28] Ludovic Righetti,et al. Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent , 2021, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
[29] Koushil Sreenath,et al. Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL , 2013, Int. J. Robotics Res..
[30] Ludovic Righetti,et al. An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research , 2019, IEEE Robotics and Automation Letters.
[31] Mingguo Zhao,et al. Fast Online Planning for Bipedal Locomotion via Centroidal Model Predictive Gait Synthesis , 2021, IEEE Robotics and Automation Letters.
[32] Kazuhito Yokoi,et al. The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation , 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).
[33] Alexander Herzog,et al. Step timing adjustment: A step toward generating robust gaits , 2016, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids).