## Research and development toward an autonomous biped walking robot (2003)

Venue: | Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM |

Citations: | 6 - 1 self |

### BibTeX

@INPROCEEDINGS{Wollherr03researchand,

author = {Dirk Wollherr and Martin Buss and Michael Hardt},

title = {Research and development toward an autonomous biped walking robot},

booktitle = {Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM},

year = {2003},

pages = {968--973}

}

### OpenURL

### Abstract

www.sim.informatik.tu-darmstadt.de

### Citations

306 | The development of honda humanoid robot - Hirai, Hirose, et al. - 1998 |

267 |
Computer Methods for Ordinary Differential Equations and Differential-Algebraic Equations
- Ascher, Petzold
- 1998
(Show Context)
Citation Context ...stems is that their constrained contact legs often have unique inverse kinematic solutions, which can be used to derive reduced dynamic equations. This approach, also known as coordinate partitioning =-=[2]-=-, projects the dynamics (1) onto a reduced set of independent states thus converting the DAE contact system (1) into an ODE system of minimal size. Using a recursive multibody algorithmic approach, th... |

64 | Planning walking patterns for a biped robot
- Huang, Kajita, et al.
- 2001
(Show Context)
Citation Context ...inertia equals zero or equivalently the point where the net vertical ground reaction force acts. This point has frequently been used to produce stable locomotion beyond the region of static stability =-=[14]-=-. This measure has many deficiencies when considering fast locomotion; in particular, it provides little stability information during the important rolling action of the feet (see Fig. 1)Š ˆ ˆ ƒ ˆ € ... |

62 | A spatial operator algebra for manipulator modeling and control
- Rodriguez, Jain, et al.
- 1991
(Show Context)
Citation Context ...f a humanoid robot. The MBS modeling and computational approach chosen is the Articulated Body Algorithm (ABA) due to its superior modularity and computational efficiency for high dimensional systems =-=[4, 16]-=-. The basic equations of motion for a humanoid robot are those for a rigid, multibody system experiencing contact forces / 0 12 ! #"%$'& )(+*,&.- 3 where is the number of links in the 4 5 68796 system... |

49 |
Postural stability of biped robots and the foot-rotation indicator (fri) point
- Goswami
- 1999
(Show Context)
Citation Context ...ints. This highly conservative measure of postural stability generally results in very slow legged motions. The notion of dynamic stability is required for faster legged motion, yet as pointed out in =-=[6]-=-, a dynamically stable gait is one without static stability that is sustainable indefinitely. The ZMP is that point on the ground where the total moment generated due to gravity and inertia equals zer... |

47 | Robot Dynamics: Equations and Algorithms
- Featherstone, Orin
(Show Context)
Citation Context ...f a humanoid robot. The MBS modeling and computational approach chosen is the Articulated Body Algorithm (ABA) due to its superior modularity and computational efficiency for high dimensional systems =-=[4, 16]-=-. The basic equations of motion for a humanoid robot are those for a rigid, multibody system experiencing contact forces / 0 12 ! #"%$'& )(+*,&.- 3 where is the number of links in the 4 5 68796 system... |

38 | Development of humanoid robot ASIMO - Hirose, Haikawa, et al. - 2001 |

32 | Design, Control, and Energetics of an Electrically Actuated Legged Robot
- Gregorio, Ahmadi, et al.
- 1997
(Show Context)
Citation Context ...and applied torque for ” link respectively, u while is the step length or total distance of one stride. Energy Performance 2: Another efficiency cost criterion is the specific • resistance as used in =-=[7]-=-. This measures the output power in relation to the mass moved and the velocity attained and is a dimensionless quantity. Its integral over the gait cycle is a normalized form of the kinetic energy x ... |

29 | Current and Future Perspective of Honda Humanoid Robot - Hirai - 1997 |

26 | Simulation of an Autonomous Biped Walking Robot Including Environmental Force - Fujimoto, Kawamura - 1998 |

20 |
Optimal biped walking with a complete dynamical model
- Hardt, Kreutz-Delgado, et al.
- 1999
(Show Context)
Citation Context ... converting the DAE contact system (1) into an ODE system of minimal size. Using a recursive multibody algorithmic approach, the reduced dynamics may be evaluated without explicitly constructing them =-=[8]-=-. S 4 The constant mapping G HXW 7E6 from the full state vector to the independent 5=TU6V Y states then reduces the dimension of the equations of motion and the system evolution follows automatically ... |

15 | Natural motion generation of biped locomotion robot using hierarchical trajectory generation method consisting of GA, EP layers - Arakawa, Fukuda - 1997 |

14 | The role of motion dynamics in the design, control and stability of bipedal and quadrupedal robots
- Hardt, Stryk
(Show Context)
Citation Context ...ns and being separated by events. The order of contact events is straightforward and depends primarily upon the speed of locomotion. A summary of the modeling constraints for a complete gait cycle is =-=[9]-=-: Periodic gait constraints (gait optimization): Periodicity of continuous state and control variables. Periodicity of ground contact forces. Exterior environmental constraints: Kinematic constraints ... |

10 |
Dynamics in the dynamic walk of a quadruped robot," Advanced Robotics
- Kimura
- 1990
(Show Context)
Citation Context ... these factors into account. Energy Performance 1: In legged systems where a high torque is generated by a large current in the motor, the primary form of energy loss is called the Joule thermal loss =-=[15]-=-. One may minimize the integral of this value over the gait: Optimization of stability and performance indices Our approach uses sophisticated numerical optimization techniques, which can incorporate ... |

10 |
Stryk, “Actuator selection and hardware realization of a small and fast-moving, autonomous humanoid robot
- Wollherr, Hardt, et al.
(Show Context)
Citation Context ...ive power consumption leading to heavy onboard batteries. A strategy for finding a good compromise between these conflicting goals using dynamic optimization has been presented with greater detail in =-=[19]-=-. The resulting architecture of the 80 cm humanoid robot is shown in Fig. 2. The optimization criterion used was Energy Performance 1 of (4) subject to the complete biped dynamics for a rigid body mod... |

6 | Control of a walking robot with feet following a reference trajectory derived from ballistic motion - Chevallereau, Formal’sky, et al. - 1997 |

2 | von Stryk, O.: “Development of a Toolbox for ModelBased Real-Time Simulation and Analysis of Legged Robots - Helm, Hardt, et al. |

1 |
Stryk “User’s Guide for DIRCOL Version 2.1”, Simulation and Systems Optimization Group, Technische Universität
- von
(Show Context)
Citation Context ...zation of stability and performance indices Our approach uses sophisticated numerical optimization techniques, which can incorporate the numerous modeling constraints to generate optimal trajectories =-=[18]-=-. The optimization approach is based on a discretization of the control problem in time using direct collocation and its subsequent formulation as a nonlinear programming problem then solved with a sp... |