Bipedal robotic walking control derived from analysis of human locomotion

DOI10.1007/S00422-018-0750-5MaRDI QIDQ1990540zbMATH OpenOpenAlexDBLPWikidataFDO

Authors Lin Meng, Catherine A. Macleod, Bernd Porr, Henrik Gollee

Publication date 25 October 2018

Published in Biological Cybernetics (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1007/s00422-018-0750-5

zbMATH Keywords

roboticslimit cycle walkinghuman walkingbipedal locomotionbiological inspirationreflexive rhythmic generator

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Robot dynamics and control of rigid bodies (70E60) Biomechanics (92C10) Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

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Cites work

• A Reflexive Neural Network for Dynamic Biped Walking Control
• A model fo the neuro-musculo-skeletal system for human locomotion. I: Emergence of basic gait
• Ballistic walking: an improved model
• How to Control Artificial Anthropomorphic Systems
• Passive bipedal walking with phasic muscle contraction

Cited in

(22)

• Bipedal locomotion: toward unified concepts in robotics and neuroscience
• Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics
• Control method of biped locomotion giving asymptotic stability of trajectory
• An artificial neural network that utilizes hip joint actuations to control bifurcations and chaos in a passive dynamic bipedal walking model
• Robust control of CPG-based 3D neuromusculoskeletal walking model
• On active controls for a biped mechanism
• Realization of a biped robot lower limb walking without double support phase on uneven terrain
• Controlling flat-foot limit cycle walkers with compliant joints based on local stability variation
• Distributed-force-feedback-based reflex with online learning for adaptive quadruped motor control
• Dynamical consequences of sensory feedback in a half-center oscillator coupled to a simple motor system
• scientific article; zbMATH DE number 5296816 (Why is no real title available?)
• Center of percussion and gait design of biped robots
• Locomotion pattern generation and mechanisms of a new biped walking machine
• Dynamic modeling and closed-loop control design for humanoid robotic systems: Gibbs-Appell formulation and SDRE approach
• Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain
• Bipedal walking gait generation based on the sequential method of analytical potential (SMAP)
• A new human-like walking for the humanoid robot \textit{Romeo}
• scientific article; zbMATH DE number 5649117 (Why is no real title available?)
• scientific article; zbMATH DE number 5309826 (Why is no real title available?)
• Design of a robust self-excited biped walking mechanism
• Inverse kinematics and inverse dynamics for control of a biped walking machine
• Humanoid Robot LOLA — Research Platform for High-SpeedWalking

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