Dynamic Bipedal Walking Using Real-Time Optimization of Center of Mass Motion and Capture Point-Based Stability Controller

Author:

Kim Si-Hyun,Hong Young-DaeORCID

Funder

Ministry of Science, ICT and Future Planning

Publisher

Springer Science and Business Media LLC

Subject

Electrical and Electronic Engineering,Artificial Intelligence,Industrial and Manufacturing Engineering,Mechanical Engineering,Control and Systems Engineering,Software

Reference24 articles.

1. Chen, G., Jin, B., Chen, Y.: Nonsingular fast terminal sliding mode posture control for six-legged walking robots with redundant actuation. Mechatron. 50, 1–15 (2018)

2. Hong, Y.-D.: Real-time footstep planning including capture point trajectory optimization for stable biped navigation. Trans. the Inst. Meas. Cont. 43(9), 2058–2068 (2021)

3. Hong, Y.-D., Lee, B.: Real-time feasible footstep planning for bipedal robots in three-dimensional environments using particle swarm optimization. IEEE/ASME Trans. Mechatron. 25(1), 429–437 (2020)

4. Kajita, S., Matsumoto, O., Saigo, M.: Real-time 3D walking pattern generation for a biped robot with telescopic legs. Proc. IEEE Int. Conf. Robot. Autom. 3, 2299–2306 (2001)

5. Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Yokoi, K., Hirukawa, H.: A realtime pattern generator for biped walking. Proc. IEEE Int. Conf. Robot. Autom. 1, 31–37 (2002)

Cited by 6 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Offline Walking Strategy Of Biped Robot Based On Improved DCM;2023 5th International Academic Exchange Conference on Science and Technology Innovation (IAECST);2023-12-08

2. An overview on bipedal gait control methods;IET Collaborative Intelligent Manufacturing;2023-09

3. Design and Optimization of Multifunctional Human Motion Rehabilitation Training Robot EEGO;Actuators;2023-07-28

4. Walking Stability Analysis of Biped Robot Based on Actuator Response Characteristics;Intelligent Robotics and Applications;2023

5. An Approach to Evaluate the Dynamic Stability for Walking Robots;2022 6th International Conference on Robotics and Automation Sciences (ICRAS);2022-06-09

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3