Human-like actuated walking that is asymptotically stable without feedback
Studies a two-legged kneed walking robot with point feet. At any given moment, only one foot is in contact with the ground, and the switching is instantaneous. The robot can be considered as a simplified model of human walking. The periodic torque histories applied to each link are a priori prescrib...
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| creator | Mombaur, K.D. Bock, H.G. Schloder, J.P. Longman, R.W. |
| description | Studies a two-legged kneed walking robot with point feet. At any given moment, only one foot is in contact with the ground, and the switching is instantaneous. The robot can be considered as a simplified model of human walking. The periodic torque histories applied to each link are a priori prescribed for a motion and are not changed by any feedback interference. Nevertheless the robot is capable of naturally recovering from perturbations, returning to standard gait-a property that we call open-loop stable. We formulate the problem of open-loop stabilization as an optimal control problem. Design parameters and periodic torque inputs that lead to a stable configuration are computed using a two-level optimization procedure. We believe that this is the first demonstration of the ability to create stable actuated open-loop gaits of bipedal walking robots. |
| doi_str_mv | 10.1109/ROBOT.2001.933263 |
| format | Conference Proceeding |
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We believe that this is the first demonstration of the ability to create stable actuated open-loop gaits of bipedal walking robots.</description><subject>Design optimization</subject><subject>Feedback</subject><subject>Foot</subject><subject>History</subject><subject>Humans</subject><subject>Interference</subject><subject>Legged locomotion</subject><subject>Optimal control</subject><subject>Robots</subject><subject>Torque</subject><issn>1050-4729</issn><issn>2577-087X</issn><isbn>0780365763</isbn><isbn>9780780365766</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2001</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotkE1PAjEUABs_EgH9AXrqydvia7ttd49KUDQkJAYTb5tH961UuizSbgj_XhM8zWUyh2HsVsBYCCgf3hdPi-VYAohxqZQ06owNpLY2g8J-nrMh2AKU0daoCzYQoCHLrSyv2DDGbwBQypgBe5v1LW6z4DfE0aUeE9X8gGHjt188rTFxHznGY7tLXfIOQzjymHAViB98Wnd94g1RvUK3uWaXDYZIN_8csY_n6XIyy-aLl9fJ4zxzUouU5TURauNqWWJRaIFNqWsHTjRKkCHVmAILZzEX2uYIjQKnUBdW5ZATgFYjdn_q7vbdT08xVa2PjkLALXV9rKSxxuoS_sS7k-iJqNrtfYv7Y3V6pX4BDKhcTw</recordid><startdate>2001</startdate><enddate>2001</enddate><creator>Mombaur, K.D.</creator><creator>Bock, H.G.</creator><creator>Schloder, J.P.</creator><creator>Longman, R.W.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope><scope>7SC</scope><scope>8FD</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope></search><sort><creationdate>2001</creationdate><title>Human-like actuated walking that is asymptotically stable without feedback</title><author>Mombaur, K.D. ; Bock, H.G. ; Schloder, J.P. ; Longman, R.W.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c251t-4deea56cd29a8851af95dc0c1f31e6e3f68a8c7a41574a0f30c3a5873404e0053</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2001</creationdate><topic>Design optimization</topic><topic>Feedback</topic><topic>Foot</topic><topic>History</topic><topic>Humans</topic><topic>Interference</topic><topic>Legged locomotion</topic><topic>Optimal control</topic><topic>Robots</topic><topic>Torque</topic><toplevel>online_resources</toplevel><creatorcontrib>Mombaur, K.D.</creatorcontrib><creatorcontrib>Bock, H.G.</creatorcontrib><creatorcontrib>Schloder, J.P.</creatorcontrib><creatorcontrib>Longman, R.W.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection><collection>Computer and Information Systems Abstracts</collection><collection>Technology Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Mombaur, K.D.</au><au>Bock, H.G.</au><au>Schloder, J.P.</au><au>Longman, R.W.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Human-like actuated walking that is asymptotically stable without feedback</atitle><btitle>Proceedings - IEEE International Conference on Robotics and Automation</btitle><stitle>ROBOT</stitle><date>2001</date><risdate>2001</risdate><volume>4</volume><spage>4128</spage><epage>4133 vol.4</epage><pages>4128-4133 vol.4</pages><issn>1050-4729</issn><eissn>2577-087X</eissn><isbn>0780365763</isbn><isbn>9780780365766</isbn><abstract>Studies a two-legged kneed walking robot with point feet. At any given moment, only one foot is in contact with the ground, and the switching is instantaneous. The robot can be considered as a simplified model of human walking. The periodic torque histories applied to each link are a priori prescribed for a motion and are not changed by any feedback interference. Nevertheless the robot is capable of naturally recovering from perturbations, returning to standard gait-a property that we call open-loop stable. We formulate the problem of open-loop stabilization as an optimal control problem. Design parameters and periodic torque inputs that lead to a stable configuration are computed using a two-level optimization procedure. We believe that this is the first demonstration of the ability to create stable actuated open-loop gaits of bipedal walking robots.</abstract><pub>IEEE</pub><doi>10.1109/ROBOT.2001.933263</doi><tpages>6</tpages></addata></record> |
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| identifier | ISSN: 1050-4729 |
| ispartof | Proceedings - IEEE International Conference on Robotics and Automation, 2001, Vol.4, p.4128-4133 vol.4 |
| issn | 1050-4729 2577-087X |
| language | eng |
| recordid | cdi_ieee_primary_933263 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Design optimization Feedback Foot History Humans Interference Legged locomotion Optimal control Robots Torque |
| title | Human-like actuated walking that is asymptotically stable without feedback |
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