Journal ArticleDOI
Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point
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In this article, the problem of foot rotation in biped robots during the single-support phase was studied and it was shown that foot rotation is an indication of postural instability.Abstract:
The focus of this paper is the problem of foot rotation in biped robots during the single-support phase. Foot rotation is an indication of postural instability, which should be carefully treated in...read more
Citations
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Journal ArticleDOI
RABBIT: a testbed for advanced control theory
Christine Chevallereau,G. Abba,Yannick Aoustin,Franck Plestan,Eric R. Westervelt,C. Canudas-De-Wit,Jessy W. Grizzle +6 more
TL;DR: The design, construction and control of an experimental bipedal robot platform for the study of walking is described.
Journal ArticleDOI
Forces acting on a biped robot. Center of pressure-zero moment point
Philippe Sardain,G. Bessonnet +1 more
TL;DR: A virtual CoP-ZMP is defined, allowing us to extend the concept when walking on uneven terrain, and analyzing the evolution of the ground contact forces obtained from a human walker wearing robot feet as shoes.
Journal ArticleDOI
Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models
TL;DR: This two-part paper discusses the analysis and control of legged locomotion in terms of N-step capturability: the ability of a legged system to come to a stop without falling by taking N or fewer steps, and introduces a theoretical framework for assessing N- stepCapturability.
Journal ArticleDOI
Powered ankle-foot prosthesis
Samuel Kwok Wai Au,Hugh M. Herr +1 more
TL;DR: To minimize prosthesis cost of transport and motor or transmission size, a parallel stiffness is selected that supplies the necessary ankle stiffness during early stance period dorsiflexion, eliminating the need for SEA during that gait phase.
Journal ArticleDOI
Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications
TL;DR: The zero moment point (ZMP), foot rotation indicator (FRI) and centroidal moment pivot (CMP) are important ground reference points used for motion identification and control in biomechanics and legged robotics and their applicability in legged machine control is discussed.
References
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Journal ArticleDOI
Contribution to the Synthesis of Biped Gait
TL;DR: The connection between the dynamics of an object and the algorithmic level has been modified in this paper, based on two-level control, in introducing feedbacks, that is, a system of regulators at the level of the formed typed of gait only.
Book
Multiple Muscle Systems: Biomechanics and Movement Organization
TL;DR: The book begins with a treatment of muscle mechanics and modelling approaches for musculoskeletal movement systems, and continues with the principles underlying movement organization.
Journal ArticleDOI
A Study of the Passive Gait of a Compass-Like Biped Robot: Symmetry and Chaos
TL;DR: A novel graphical technique based on the first return map that compactly captures the entire evolution of the gait, from symmetry to chaos, of a biped robot on inclined slopes.
Book
Biped Locomotion: Dynamics, Stability, Control and Application
TL;DR: Dynamics of Biped Locomotion, Synthesis of Nominal Dynamics, Control and Stability, and Realization of Anthropomorphic Mechanisms.