Cyclic gait planning and control of a five-link biped robot with four actuators during single support and double support phases
DOI10.1007/S11044-013-9404-5zbMATH Open1308.93150OpenAlexW1995708555MaRDI QIDQ2340355FDOQ2340355
Authors: R. Dehghani, Abbas Fattah, Esmaeil Abedi 
Publication date: 16 April 2015
Published in: Multibody System Dynamics (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1007/s11044-013-9404-5
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Applications of optimal control and differential games (49N90) Artificial intelligence for robotics (68T40) Automated systems (robots, etc.) in control theory (93C85)
Cites Work
- Linear algebra and its applications
- Constrained model predictive control: Stability and optimality
- Dynamics and energetics of a class of bipedal walking systems
- Optimal control with engineering applications.
- Design of a walking cyclic gait with single support phases and impacts for the locomotor system of a thirteen-link 3D biped using the parametric optimization
- Hybrid zero dynamics of planar biped walkers
- Dynamical synthesis of a walking cyclic gait for a biped with point feet
- Nonsymmetric approximations in spaces of continuous functions
- Optimization of throwing motion planning for whole-body humanoid mechanism: sidearm and maximum distance
- Stabilizing state-feedback design via the moving horizon method
- Control of a Planar Underactuated Biped on a Complete Walking Cycle
Cited In (11)
- GAIT SYNTHESIS BASED ON FWN FOR A FIVE-LINK BIPED ROBOT
- Knee and torso kinematics in generation of optimum gait pattern based on human-like motion for a seven-link biped robot
- Modification-based periodic gait planning for a 3-D bipedal robot with two underactuated DOFs
- Dynamic modelling and walk simulation for a new four-degree-of-freedom parallelogram bipedal robot with sideways stability control
- Design of a walking cyclic gait with single support phases and impacts for the locomotor system of a thirteen-link 3D biped using the parametric optimization
- Skeletal-level control-based forward dynamic analysis of acquired healthy and assisted gait motion
- Planar walking control for a five-link biped robot
- Multiphase trajectory generation for planar biped robot using direct collocation method
- Gait generation and control for biped robots with underactuation degree one
- Control design for a biped: reference trajectory based on driven angles as functions of the undriven angle
- Development of a Complete Dynamic Model of a Planar Five-Link Biped and Sliding Mode Control of Its Locomotion During the Double Support Phase
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