Robust hopping based on virtual pendulum posture control.
暂无分享,去创建一个
Majid Nili Ahmadabadi | Andre Seyfarth | Christophe Maufroy | Maziar A Sharbafi | Mohammad J Yazdanpanah
[1] Andre Seyfarth,et al. Stance leg control: variation of leg parameters supports stable hopping. , 2012, Bioinspiration & biomimetics.
[2] H. Benjamin Brown,et al. c ○ 2001 Kluwer Academic Publishers. Manufactured in The Netherlands. RHex: A Biologically Inspired Hexapod Runner ∗ , 2022 .
[3] Jessy W. Grizzle,et al. The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper , 2009, IEEE Transactions on Automatic Control.
[4] Reinhard Blickhan,et al. A movement criterion for running. , 2002, Journal of biomechanics.
[5] Jonathan W. Hurst,et al. THE DESIGN OF ATRIAS 1.0 A UNIQUE MONOPOD, HOPPING ROBOT ∗ , 2012 .
[6] A. Seyfarth,et al. Stable Upright Walking and Running using a simple Pendulum based Control Scheme , 2008 .
[7] R. Blickhan. The spring-mass model for running and hopping. , 1989, Journal of biomechanics.
[8] Bernard Dieny,et al. The 2014 Magnetism Roadmap , 2014 .
[9] Andre Seyfarth,et al. Human leg adjustment in perturbed hopping , 2013 .
[10] Dimitri P. Bertsekas,et al. Dynamic programming & optimal control , volume i , 2014 .
[11] Mark R. Cutkosky,et al. Safe Control of Hopping in Uneven Terrain , 2009 .
[12] Tadeusz Kaczorek,et al. Robust and optimal control , 1996 .
[13] Susanne W. Lipfert,et al. Upright human gait did not provide a major mechanical challenge for our ancestors. , 2010, Nature communications.
[14] Majid Nili Ahmadabadi,et al. Switching from hopping to running with HZD controller , 2014 .
[15] Marc H. Raibert,et al. Legged Robots That Balance , 1986, IEEE Expert.
[16] Kreg G Gruben,et al. Force direction pattern stabilizes sagittal plane mechanics of human walking. , 2012, Human movement science.
[17] E. Westervelt,et al. Feedback Control of Dynamic Bipedal Robot Locomotion , 2007 .
[18] M Mert Ankarali,et al. Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper. , 2010, Chaos.
[19] André Seyfarth,et al. Leg-adjustment strategies for stable running in three dimensions , 2012, Bioinspiration & biomimetics.
[20] Mi-Ching Tsai,et al. Robust and Optimal Control , 2014 .
[21] 木村 浩,et al. Adaptive motion of animals and machines , 2006 .
[22] Takashi Emura,et al. Symmetric Walking Control: Invariance and Global Stability , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.
[23] André Seyfarth,et al. Simplified control of upright walking by exploring asymmetric gaits induced by leg damping , 2011, 2011 IEEE International Conference on Robotics and Biomimetics.
[24] Martin Buehler,et al. A planar hopping robot with one actuator: design, simulation, and experimental results , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).
[25] Koushil Sreenath,et al. A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL , 2011, Int. J. Robotics Res..
[26] Daniel Vélez Día,et al. Biomechanics and Motor Control of Human Movement , 2013 .
[27] Reinhard Blickhan,et al. Compliant leg behaviour explains basic dynamics of walking and running , 2006, Proceedings of the Royal Society B: Biological Sciences.
[28] Daniel E. Koditschek,et al. RHex: A Simple and Highly Mobile Hexapod Robot , 2001, Int. J. Robotics Res..
[29] Michael Günther,et al. Joint stiffness of the ankle and the knee in running. , 2002, Journal of biomechanics.
[30] Chee-Meng Chew,et al. Virtual Model Control: An Intuitive Approach for Bipedal Locomotion , 2001, Int. J. Robotics Res..
[31] C. T. Farley,et al. Leg stiffness primarily depends on ankle stiffness during human hopping. , 1999, Journal of biomechanics.
[32] T. McMahon,et al. The mechanics of running: how does stiffness couple with speed? , 1990, Journal of biomechanics.
[33] R J Full,et al. Templates and anchors: neuromechanical hypotheses of legged locomotion on land. , 1999, The Journal of experimental biology.
[34] Ioannis Poulakakis,et al. Formal embedding of the Spring Loaded Inverted Pendulum in an Asymmetric hopper , 2007, 2007 European Control Conference (ECC).
[35] R. Blickhan,et al. Similarity in multilegged locomotion: Bouncing like a monopode , 1993, Journal of Comparative Physiology A.
[36] Young-Hui Chang,et al. Rate-dependent control strategies stabilize limb forces during human locomotion , 2010, Journal of The Royal Society Interface.
[37] J. Schmitt,et al. Modeling posture-dependent leg actuation in sagittal plane locomotion , 2009, Bioinspiration & biomimetics.
[38] Majid Nili Ahmadabadi,et al. Controllers for robust hopping with upright trunk based on the Virtual Pendulum concept , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.