- About this Journal ·
- Abstracting and Indexing ·
- Aims and Scope ·
- Annual Issues ·
- Article Processing Charges ·
- Articles in Press ·
- Author Guidelines ·
- Bibliographic Information ·
- Citations to this Journal ·
- Contact Information ·
- Editorial Board ·
- Editorial Workflow ·
- Free eTOC Alerts ·
- Publication Ethics ·
- Reviewers Acknowledgment ·
- Submit a Manuscript ·
- Subscription Information ·
- Table of Contents
Journal of Robotics
Volume 2010 (2010), Article ID 278597, 19 pages
Humanoid Walking Robot: Modeling, Inverse Dynamics, and Gain Scheduling Control
Department of Mechanical Engineering, Ohio University, USA
Received 23 December 2009; Revised 28 May 2010; Accepted 9 August 2010
Academic Editor: Nilanjan Sarkar
Copyright © 2010 Elvedin Kljuno and Robert L. Williams. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
- A. D. Kuo, “The six determinants of gait and the inverted pendulum analogy: a dynamic walking perspective,” Human Movement Science, vol. 26, no. 4, pp. 617–656, 2007.
- M. Garcia, A. Chatterjee, A. Ruina, and M. Coleman, “The simplest walking model: stability, complexity, and scaling,” Journal of Biomechanical Engineering, vol. 120, no. 2, pp. 281–286, 1998.
- A. D. Kuo, “A simple model of bipedal walking predicts the preferred speed-step length relationship,” Journal of Biomechanical Engineering, vol. 123, no. 3, pp. 264–269, 2001.
- H. Geyer, A. Seyfarth, and R. Blickhan, “Spring-mass running: simple approximate solution and application to gait stability,” Journal of Theoretical Biology, vol. 232, no. 3, pp. 315–328, 2005.
- B. R. Whittington and D. G. Thelen, “A simple mass-spring model with roller feet can induce the ground reactions observed in human walking,” Journal of Biomechanical Engineering, vol. 131, no. 1, pp. 011013-1–011013-8, 2009.
- Honda Motor Co., “Technical Information,” 2007, http://world.honda.com/ASIMO/.
- S. Shirata, A. Konno, and M. Uchiyama, “Design and development of a light-weight biped humanoid robot saika-4,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04), pp. 148–153, October 2004.
- J. Yamaguchi and A. Takanishi, “Development of a leg part of a humanoid robot - development of a biped walking robot adapting to the humans' normal living floor,” Autonomous Robots, vol. 4, no. 4, pp. 369–385, 1997.
- S. H. Collins and A. Ruina, “A bipedal walking robot with efficient and human-like gait,” in Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1983–1988, April 2005.
- M. Peasgood, E. Kubica, and J. McPhee, “Stabilization of a dynamic walking gait simulation,” Journal of Computational and Nonlinear Dynamics, vol. 2, no. 1, pp. 65–72, 2007.
- M. Vukobratovic, B. Borovac, and D. Surdilovic, “Zero moment point—proper interpretation and new application,” in Proceedings of the IEEE-RAS International Conference on Humanoid Robots, pp. 237–244, 2001.
- A. Goswami, “Postural stability of biped robots and the foot-rotation indicator (FRI) point,” International Journal of Robotics Research, vol. 18, no. 6, pp. 523–533, 1999.
- B. R. Umberger and P. E. Martin, “Mechanical power and efficiency of level walking with different stride rates,” Journal of Experimental Biology, vol. 210, no. 18, pp. 3255–3265, 2007.
- K. H. Khalil, Nonlinear Systems, Prentice-Hall, Englewood Cliffs, NJ, USA, 2nd edition, 1996.
- A. Ruina, J. E. A. Bertram, and M. Srinivasan, “A collisional model of the energetic cost of support work qualitatively explains leg sequencing in walking and galloping, pseudo-elastic leg behavior in running and the walk-to-run transition,” Journal of Theoretical Biology, vol. 237, no. 2, pp. 170–192, 2005.
- A. Giovanni, G. A. Cavagna, N. C. Heglund, and C. R. Taylor, “Mechanical work in terrestrial locomotion: two basic mechanisms for minimizing energy expenditure,” The American Journal of Physiology, vol. 233, no. 5, pp. R243–261, 1977.