Experimentation of Humanoid Walking Allowing Immediate Modification of Foot Place Based on Analytical Solution

Keywords

Zero moment point, Humanoid robot, Inverted pendulum, Trajectory, Cog

References

• Integrated motion control for walking, jumping and running on a small bipedal entertainment robotKen Nagasaka, Y. Kuroki, S. Suzuki — 2004
• Trajectory Free Linear Model Predictive Control for Stable Walking in the Presence of Strong PerturbationsPierre-Brice Wieber — 2006
• Dynamic Walk of a BipedHirofumi MIURA, Isao Shimoyama — 1984
• Online mixture and connection of basic motions for humanoid walking control by footprint specificationKeiji Nishiwaki, Tomomichi Sugihara, S. Kagami — 2001
• System Design and Dynamic Walking of Humanoid Robot KHR-2Jung-Yup Kim, Ill-Woo Park, Jungho Lee — 2005
• Biped walking pattern generation by using preview control of zero-moment pointShuuji Kajita, Fumio Kanehiro, Kenji Kaneko — 2003
• Towards the design of a biped jogging robotMichael Gienger, K. Löffler, Friedrich Pfeiffer — 2001
• Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum controlTomomichi Sugihara, Yoshihiko Nakamura, H. Inoue — 2002
• The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generationShuuji Kajita, Fumio Kanehiro, Kenji Kaneko — 2001
• The development of Honda humanoid robotKazuo Hirai, Masato Hirose, Y. Haikawa — 1998
• High frequency walking pattern generation based on preview control of ZMPKeiji Nishiwaki, S. Kagami — 2006
• A Fast Online Gait Planning with Boundary Condition Relaxation for Humanoid RobotsTomomichi Sugihara, Yoshihiko Nakamura — 2005
• Humanoid robot HRP-3Kenji Kaneko, Fumio Kanehiro, Shuuji Kajita — 2004
• Humanoid robotsRodney A. Brooks — 2002
• A Biped Pattern Generation Allowing Immediate Modification of Foot Placement in Real-timeMitsuharu Morisawa, Kensuke Harada, Shuuji Kajita — 2006
• An analytical method on real-time gait planning for a humanoid robotKensuke Harada, Shuuji Kajita, Kenji Kaneko — 2005
• A Fast Generation Method of a Dynamically Stable Humanoid Robot Trajectory with Enhanced ZMP ConstraS. Kagami, K. Nishiwaki, T. Kitagawa — 2000
• International Journal of Humanoid Robotics c ○ World Scientific Publishing Company An Analytical Method on Real-time Gait Planning for a Humanoid Robot

Cited by

• Coordination of Multiple Dynamic Programming Policies for Control of BipedalWalkingEric Whitman — 2013
• Planification de pas pour robots humanoïdes : approches discrètes et continuesN. Perrin — 2011
• Phase space planning and optimization of foot placements in rough planar terrainsLuenin Barrios, Wei‐Min Shen — 2015
• Optimisation numérique pour la robotique et exécution de trajectoires référencées capteurs. (Numerical optimization for robotics and closed-loop trajectory execution)Thomas Moulard — 2012
• Motion Transfer Control From Walking to Brachiation Through Vertical Ladder Climbing for a Multi-Locomotion RobotZhiguo Lü, Tadayoshi Aoyama, Kosuke Sekiyama — 2014
• Einsatz propriozeptiver Sensorik in der Bewegungssteuerung humanoider RoboterS. Kerner — 2013
• Walking in the resonance with the COMAN robot with trajectories based on human kinematic motion primitives (kMPs)Federico L. Moro, Nikos G. Tsagarakis, Darwin G. Caldwell — 2013
• Bipedal walking gait generation based on the Sequential Method of Analytical Potential (SMAP)Anthony S. David, Olivier Bruneau — 2011
• Parameters adaptation of motion primitives for achieving more efficient humanoid walkMirko Raković, Branislav Borovać, Srđan Savić — 2014
• Walking pattern generation for a humanoid robot with compliant jointsZhibin Li, Nikos G. Tsagarakis, Darwin G. Caldwell — 2013
• METAPOD — Template META-programming applied to dynamics: CoP-CoM trajectories filteringMaximilien Naveau, Justin Carpentier, Sébastien Barthélémy — 2014
• Generating whole-body motion keep away from joint torque, contact force, contact moment limitations enabling steep climbing with a real humanoid robotShintaro Noda, Masaki Murooka, Shunichi Nozawa — 2014
• Approximation of feasibility tests for reactive walk on HRP-2Nicolas Perrin, Olivier Stasse, Florent Lamiraux — 2010
• Cancelling the sway motion of dynamic walking in visual servoingClaire Dune, Andrei Herdt, Olivier Stasse — 2010
• A human-like walking for the COmpliant huMANoid COMAN based on CoM trajectory reconstruction from kinematic Motion PrimitivesFederico L. Moro, Nikos G. Tsagarakis, Darwin G. Caldwell — 2011
• Online Walking Motion Generation with Automatic Footstep PlacementAndrei Herdt, Holger Diedam, Pierre-Brice Wieber — 2010
• Fast foot prints re-planning and motion generation during walking in physical human-humanoid interactionOlivier Stasse, Paul Evrard, Nicolas Perrin — 2009
• Point-contact type foot with springs and landing control for biped walking on rough terrainMoyuru Yamada, Shigenori Sano, Naoki Uchiyama — 2011
• Realization of Biped Walking in Unstructured Environment Using Motion PrimitivesMirko Raković, Branislav Borovać, Milutin Nikolić — 2014
• Vision-guided motion primitives for humanoid reactive walking: Decoupled versus coupled approachesMauricio García, Olivier Stasse, Jean-Bernard Hayet — 2015

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